diff --git a/gtsam/discrete/DecisionTree-inl.h b/gtsam/discrete/DecisionTree-inl.h
index 19e3e2887..f998a6065 100644
--- a/gtsam/discrete/DecisionTree-inl.h
+++ b/gtsam/discrete/DecisionTree-inl.h
@@ -93,7 +93,7 @@ namespace gtsam {
     /// print
     void print(const std::string& s, const LabelFormatter& labelFormatter,
                const ValueFormatter& valueFormatter) const override {
-      std::cout << s << " Leaf [" << nrAssignments() << "]"
+      std::cout << s << " Leaf [" << nrAssignments() << "] "
                 << valueFormatter(constant_) << std::endl;
     }
 
diff --git a/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp b/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
index 5207e9372..549223497 100644
--- a/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
+++ b/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
@@ -108,7 +108,7 @@ TEST(GaussianMixtureFactor, Printing) {
   std::string expected =
       R"(Hybrid [x1 x2; 1]{
  Choice(1) 
- 0 Leaf [1]:
+ 0 Leaf [1] :
   A[x1] = [
 	0;
 	0
@@ -120,7 +120,7 @@ TEST(GaussianMixtureFactor, Printing) {
   b = [ 0 0 ]
   No noise model
 
- 1 Leaf [1]:
+ 1 Leaf [1] :
   A[x1] = [
 	0;
 	0
diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index 7bcaf1762..12506b8af 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -492,7 +492,7 @@ factor 0:
 factor 1: 
 Hybrid [x0 x1; m0]{
  Choice(m0) 
- 0 Leaf [1]:
+ 0 Leaf [1] :
   A[x0] = [
 	-1
 ]
@@ -502,7 +502,7 @@ Hybrid [x0 x1; m0]{
   b = [ -1 ]
   No noise model
 
- 1 Leaf [1]:
+ 1 Leaf [1] :
   A[x0] = [
 	-1
 ]
@@ -516,7 +516,7 @@ Hybrid [x0 x1; m0]{
 factor 2: 
 Hybrid [x1 x2; m1]{
  Choice(m1) 
- 0 Leaf [1]:
+ 0 Leaf [1] :
   A[x1] = [
 	-1
 ]
@@ -526,7 +526,7 @@ Hybrid [x1 x2; m1]{
   b = [ -1 ]
   No noise model
 
- 1 Leaf [1]:
+ 1 Leaf [1] :
   A[x1] = [
 	-1
 ]
@@ -550,16 +550,16 @@ factor 4:
   b = [ -10 ]
   No noise model
 factor 5:  P( m0 ):
- Leaf [2] 0.5
+ Leaf [2]  0.5
 
 factor 6:  P( m1 | m0 ):
  Choice(m1) 
  0 Choice(m0) 
- 0 0 Leaf [1]0.33333333
- 0 1 Leaf [1] 0.6
+ 0 0 Leaf [1] 0.33333333
+ 0 1 Leaf [1]  0.6
  1 Choice(m0) 
- 1 0 Leaf [1]0.66666667
- 1 1 Leaf [1] 0.4
+ 1 0 Leaf [1] 0.66666667
+ 1 1 Leaf [1]  0.4
 
 )";
   EXPECT(assert_print_equal(expected_hybridFactorGraph, linearizedFactorGraph));
diff --git a/gtsam/hybrid/tests/testMixtureFactor.cpp b/gtsam/hybrid/tests/testMixtureFactor.cpp
index 79188b909..03fdccff2 100644
--- a/gtsam/hybrid/tests/testMixtureFactor.cpp
+++ b/gtsam/hybrid/tests/testMixtureFactor.cpp
@@ -63,8 +63,8 @@ TEST(MixtureFactor, Printing) {
       R"(Hybrid [x1 x2; 1]
 MixtureFactor
  Choice(1) 
- 0 Leaf [1]Nonlinear factor on 2 keys
- 1 Leaf [1]Nonlinear factor on 2 keys
+ 0 Leaf [1] Nonlinear factor on 2 keys
+ 1 Leaf [1] Nonlinear factor on 2 keys
 )";
   EXPECT(assert_print_equal(expected, mixtureFactor));
 }
diff --git a/gtsam/linear/GaussianConditional.cpp b/gtsam/linear/GaussianConditional.cpp
index 188c31abe..0112835aa 100644
--- a/gtsam/linear/GaussianConditional.cpp
+++ b/gtsam/linear/GaussianConditional.cpp
@@ -99,7 +99,7 @@ namespace gtsam {
 
   /* ************************************************************************ */
   void GaussianConditional::print(const string &s, const KeyFormatter& formatter) const {
-    cout << s << " p(";
+    cout << (s.empty() ? "" : s + " ") << "p(";
     for (const_iterator it = beginFrontals(); it != endFrontals(); ++it) {
       cout << formatter(*it) << (nrFrontals() > 1 ? " " : "");
     }