diff --git a/gtsam/discrete/Assignment.h b/gtsam/discrete/Assignment.h
index cdbf0a2e96..90e2dbdd83 100644
--- a/gtsam/discrete/Assignment.h
+++ b/gtsam/discrete/Assignment.h
@@ -33,6 +33,8 @@ namespace gtsam {
 template <class L>
 class Assignment : public std::map<L, size_t> {
  public:
+  using std::map<L, size_t>::operator=;
+
   void print(const std::string& s = "Assignment: ") const {
     std::cout << s << ": ";
     for (const typename Assignment::value_type& keyValue : *this)
diff --git a/gtsam/discrete/DecisionTree-inl.h b/gtsam/discrete/DecisionTree-inl.h
index 01c7b689c1..627c1a5aac 100644
--- a/gtsam/discrete/DecisionTree-inl.h
+++ b/gtsam/discrete/DecisionTree-inl.h
@@ -666,8 +666,13 @@ namespace gtsam {
       if (!choice)
         throw std::invalid_argument("DecisionTree::VisitWith: Invalid NodePtr");
       for (size_t i = 0; i < choice->nrChoices(); i++) {
-        choices[choice->label()] = i;    // Set assignment for label to i
+        choices[choice->label()] = i;  // Set assignment for label to i
+
         (*this)(choice->branches()[i]);  // recurse!
+
+        // Remove the choice so we are backtracking
+        auto choice_it = choices.find(choice->label());
+        choices.erase(choice_it);
       }
     }
   };
diff --git a/gtsam/discrete/tests/testDecisionTree.cpp b/gtsam/discrete/tests/testDecisionTree.cpp
index 967023eebd..91deed6253 100644
--- a/gtsam/discrete/tests/testDecisionTree.cpp
+++ b/gtsam/discrete/tests/testDecisionTree.cpp
@@ -346,6 +346,44 @@ TEST(DecisionTree, visitWith) {
   EXPECT_DOUBLES_EQUAL(6.0, sum, 1e-9);
 }
 
+/* ************************************************************************** */
+// Test visit, with Choices argument.
+TEST(DecisionTree, VisitWithPruned) {
+  // Create pruned tree
+  std::pair<string, size_t> A("A", 2), B("B", 2), C("C", 2);
+  std::vector<std::pair<string, size_t>> labels = {C, B, A};
+  std::vector<int> nodes = {0, 0, 2, 3, 4, 4, 6, 7};
+  DT tree(labels, nodes);
+
+  std::vector<Assignment<string>> choices;
+  auto func = [&](const Assignment<string>& choice, const int& d) {
+    choices.push_back(choice);
+  };
+  tree.visitWith(func);
+
+  EXPECT_LONGS_EQUAL(6, choices.size());
+
+  Assignment<string> expectedAssignment;
+
+  expectedAssignment = {{"B", 0}, {"C", 0}};
+  EXPECT(expectedAssignment == choices.at(0));
+
+  expectedAssignment = {{"A", 0}, {"B", 1}, {"C", 0}};
+  EXPECT(expectedAssignment == choices.at(1));
+
+  expectedAssignment = {{"A", 1}, {"B", 1}, {"C", 0}};
+  EXPECT(expectedAssignment == choices.at(2));
+
+  expectedAssignment = {{"B", 0}, {"C", 1}};
+  EXPECT(expectedAssignment == choices.at(3));
+
+  expectedAssignment = {{"A", 0}, {"B", 1}, {"C", 1}};
+  EXPECT(expectedAssignment == choices.at(4));
+
+  expectedAssignment = {{"A", 1}, {"B", 1}, {"C", 1}};
+  EXPECT(expectedAssignment == choices.at(5));
+}
+
 /* ************************************************************************** */
 // Test fold.
 TEST(DecisionTree, fold) {