diff --git a/gtsam/discrete/DecisionTreeFactor.cpp b/gtsam/discrete/DecisionTreeFactor.cpp
index 2607a80ef..e9c393c7d 100644
--- a/gtsam/discrete/DecisionTreeFactor.cpp
+++ b/gtsam/discrete/DecisionTreeFactor.cpp
@@ -187,12 +187,13 @@ namespace gtsam {
     return ADT::dot(keyFormatter, valueFormatter, showZero);
   }
 
+    // Print out header.
   /* ************************************************************************* */
   string DecisionTreeFactor::markdown(const KeyFormatter& keyFormatter,
                                       const Names& names) const {
     stringstream ss;
 
-    // Print out header and construct argument for `cartesianProduct`.
+    // Print out header.
     ss << "|";
     for (auto& key : keys()) {
       ss << keyFormatter(key) << "|";
@@ -218,11 +219,63 @@ namespace gtsam {
     return ss.str();
   }
 
+  /* ************************************************************************ */
+  string DecisionTreeFactor::html(const KeyFormatter& keyFormatter,
+                                  const Names& names) const {
+    const string style =
+        "<style scoped=\'\'>\n"
+        "    .dataframe tbody tr th:only-of-type {\n"
+        "        vertical-align: middle;\n"
+        "    }\n"
+        "    .dataframe tbody tr th {\n"
+        "        vertical-align: top;\n"
+        "    }\n"
+        "    .dataframe thead th {\n"
+        "        text-align: right;\n"
+        "    }\n"
+        "</style>\n";
+
+    stringstream ss;
+
+    // Print out preamble.
+    ss << "<div>\n"
+       << style
+       << "<table border=\'1\' class=\'dataframe\'>\n"
+          "  <thead>\n";
+
+    // Print out header row.
+    ss << "    <tr style=\'text-align: right;\'>";
+    for (auto& key : keys()) {
+      ss << "<th>" << keyFormatter(key) << "</th>";
+    }
+    ss << "<th>value</th></tr>\n";
+
+    // Finish header and start body.
+    ss << "  </thead>\n  <tbody>\n";
+
+    // Print out all rows.
+    auto rows = enumerate();
+    for (const auto& kv : rows) {
+      ss << "    <tr>";
+      auto assignment = kv.first;
+      for (auto& key : keys()) {
+        size_t index = assignment.at(key);
+        ss << "<th>" << Translate(names, key, index) << "</th>";
+      }
+      ss << "<td>" << kv.second << "</td>";  // value
+      ss << "</tr>\n";
+    }
+    ss << "  </tbody>\n</table>\n</div>";
+    return ss.str();
+  }
+
+  /* ************************************************************************* */
   DecisionTreeFactor::DecisionTreeFactor(const DiscreteKeys &keys, const vector<double> &table) :
           DiscreteFactor(keys.indices()), AlgebraicDecisionTree<Key>(keys, table),
           cardinalities_(keys.cardinalities()) {
   }
 
+  /* ************************************************************************* */
   DecisionTreeFactor::DecisionTreeFactor(const DiscreteKeys &keys, const string &table) :
           DiscreteFactor(keys.indices()), AlgebraicDecisionTree<Key>(keys, table),
           cardinalities_(keys.cardinalities()) {
diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h
index f7c50d5b5..b5f6c0c4a 100644
--- a/gtsam/discrete/DecisionTreeFactor.h
+++ b/gtsam/discrete/DecisionTreeFactor.h
@@ -211,6 +211,16 @@ namespace gtsam {
     std::string markdown(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
                          const Names& names = {}) const override;
 
+    /**
+     * @brief Render as html table
+     *
+     * @param keyFormatter GTSAM-style Key formatter.
+     * @param names optional, category names corresponding to choices.
+     * @return std::string a html string.
+     */
+    std::string html(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
+                     const Names& names = {}) const override;
+
     /// @}
 
 };
diff --git a/gtsam/discrete/DiscreteFactor.h b/gtsam/discrete/DiscreteFactor.h
index e30c0a6fe..43486c5ae 100644
--- a/gtsam/discrete/DiscreteFactor.h
+++ b/gtsam/discrete/DiscreteFactor.h
@@ -106,6 +106,17 @@ public:
       const KeyFormatter& keyFormatter = DefaultKeyFormatter,
       const Names& names = {}) const = 0;
 
+  /**
+   * @brief Render as html table
+   *
+   * @param keyFormatter GTSAM-style Key formatter.
+   * @param names optional, category names corresponding to choices.
+   * @return std::string a html string.
+   */
+  virtual std::string html(
+      const KeyFormatter& keyFormatter = DefaultKeyFormatter,
+      const Names& names = {}) const = 0;
+
   /// @}
 };
 // DiscreteFactor
diff --git a/gtsam/discrete/discrete.i b/gtsam/discrete/discrete.i
index d17401e44..3e8013ce8 100644
--- a/gtsam/discrete/discrete.i
+++ b/gtsam/discrete/discrete.i
@@ -54,6 +54,10 @@ virtual class DecisionTreeFactor : gtsam::DiscreteFactor {
                       gtsam::DefaultKeyFormatter) const;
   string markdown(const gtsam::KeyFormatter& keyFormatter,
                   std::map<gtsam::Key, std::vector<std::string>> names) const;
+  string html(const gtsam::KeyFormatter& keyFormatter =
+                  gtsam::DefaultKeyFormatter) const;
+  string html(const gtsam::KeyFormatter& keyFormatter,
+              std::map<gtsam::Key, std::vector<std::string>> names) const;
 };
 
 #include <gtsam/discrete/DiscreteConditional.h>
@@ -93,6 +97,10 @@ virtual class DiscreteConditional : gtsam::DecisionTreeFactor {
                       gtsam::DefaultKeyFormatter) const;
   string markdown(const gtsam::KeyFormatter& keyFormatter,
                   std::map<gtsam::Key, std::vector<std::string>> names) const;
+  string html(const gtsam::KeyFormatter& keyFormatter =
+                  gtsam::DefaultKeyFormatter) const;
+  string html(const gtsam::KeyFormatter& keyFormatter,
+              std::map<gtsam::Key, std::vector<std::string>> names) const;
 };
 
 #include <gtsam/discrete/DiscretePrior.h>
diff --git a/gtsam/discrete/tests/testDecisionTreeFactor.cpp b/gtsam/discrete/tests/testDecisionTreeFactor.cpp
index 716a77127..c9f692497 100644
--- a/gtsam/discrete/tests/testDecisionTreeFactor.cpp
+++ b/gtsam/discrete/tests/testDecisionTreeFactor.cpp
@@ -154,6 +154,51 @@ TEST(DecisionTreeFactor, markdownWithValueFormatter) {
   EXPECT(actual == expected);
 }
 
+/* ************************************************************************* */
+// Check html representation with a value formatter.
+TEST(DecisionTreeFactor, htmlWithValueFormatter) {
+  DiscreteKey A(12, 3), B(5, 2);
+  DecisionTreeFactor f(A & B, "1 2  3 4  5 6");
+  string expected =
+      "<div>\n"
+      "<style scoped=''>\n"
+      "    .dataframe tbody tr th:only-of-type {\n"
+      "        vertical-align: middle;\n"
+      "    }\n"
+      "    .dataframe tbody tr th {\n"
+      "        vertical-align: top;\n"
+      "    }\n"
+      "    .dataframe thead th {\n"
+      "        text-align: right;\n"
+      "    }\n"
+      "</style>\n"
+      "<table border='1' class='dataframe'>\n"
+      "  <thead>\n"
+      "    <tr style='text-align: "
+      "right;'><th>A</th><th>B</th><th>value</th></tr>\n"
+      "  </thead>\n"
+      "  <tbody>\n"
+      "    <tr><th>Zero</th><th>-</th><td>1</td></tr>\n"
+      "    <tr><th>Zero</th><th>+</th><td>2</td></tr>\n"
+      "    <tr><th>One</th><th>-</th><td>3</td></tr>\n"
+      "    <tr><th>One</th><th>+</th><td>4</td></tr>\n"
+      "    <tr><th>Two</th><th>-</th><td>5</td></tr>\n"
+      "    <tr><th>Two</th><th>+</th><td>6</td></tr>\n"
+      "  </tbody>\n"
+      "</table>\n"
+      "</div>";
+  auto keyFormatter = [](Key key) { return key == 12 ? "A" : "B"; };
+  DecisionTreeFactor::Names names{{12, {"Zero", "One", "Two"}},
+                                  {5, {"-", "+"}}};
+  string actual = f.html(keyFormatter, names);
+  cout << expected << endl;
+  cout << actual << endl;
+  ofstream ef("expected=html.txt"), af("actual-html.txt");
+  ef << expected << endl;
+  af << actual << endl;
+  EXPECT(actual == expected);
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;
diff --git a/gtsam_unstable/discrete/Constraint.h b/gtsam_unstable/discrete/Constraint.h
index 85748f054..4ee7b85eb 100644
--- a/gtsam_unstable/discrete/Constraint.h
+++ b/gtsam_unstable/discrete/Constraint.h
@@ -91,6 +91,12 @@ class GTSAM_EXPORT Constraint : public DiscreteFactor {
     return (boost::format("`Constraint` on %1% variables\n") % (size())).str();
   }
 
+  /// Render as html table.
+  std::string html(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
+                   const Names& names = {}) const override {
+    return (boost::format("<p>Constraint on %1% variables</p>") % (size())).str();
+  }
+
   /// @}
 };
 // DiscreteFactor