diff --git a/dimos/control/README.md b/dimos/control/README.md
index 66c64b418d..03a3b1a30b 100644
--- a/dimos/control/README.md
+++ b/dimos/control/README.md
@@ -222,17 +222,18 @@ back to the caller. `describe_task()` reports those signatures live.
 |------|---------------|---------|
 | `claim_overlap` | the message names a joint the task currently claims | `joint_command` |
 | `broadcast` | always, to every task on the port | `teleop_buttons`, `gripper_command` |
-| `direct` | always, but the port is meant for one task (a second logs a warning) | `path`, `speed` |
-| `by_task_name` | `msg.frame_id == task.name` | `coordinator_cartesian_command`, `coordinator_ee_twist_command` |
+| `direct` | always, but the port is meant for one task (a second logs a warning) | `path`, `speed`, `cartesian_command`, `ee_twist_command` |
 
-`by_task_name` uses `frame_id` as an address rather than a coordinate frame. It
-is legacy, slated for replacement by a targeted message; don't add new bindings.
+Addressing is topology: which task gets a message is decided by which port it
+reads (wired once at startup), never by message content. Multi-instance
+deployments give each instance its own port via `stream_bind`.
 
 ## Deployment I/O
 
 `ControlCoordinator` declares the shared streams (`joint_command`,
-`twist_command`, `teleop_buttons`, `gripper_command`, cartesian and EEF twist).
-A deployment needing more subclasses it and annotates the extra ports:
+`twist_command`, `teleop_buttons`, `gripper_command`). Per-instance inputs —
+`cartesian_command`, `ee_twist_command` — are deployment I/O: a deployment
+subclasses the coordinator and annotates one port per consuming task instance:
 
 ```python
 class _Go2Coordinator(PathFollowingCoordinator):
@@ -249,10 +250,13 @@ registry, since a subclass can declare ports the registry never sees. A missing
 port fails `add_task()` with the annotation to add, before any route registers.
 
 `TaskConfig.stream_bind` remaps a card input per instance, so two tasks of the
-same type can read different ports (task-level remapping, ROS sense):
+same type can read different ports (task-level remapping, ROS sense). The
+dual-arm teleop coordinator declares `left_cartesian` / `right_cartesian` and
+binds each arm's `teleop_ik` task to its side:
 
 ```python
-TaskConfig(name="left", type="path_follower", stream_bind={"path": "left_path"})
+TaskConfig(name="teleop_xarm", type="teleop_ik",
+           stream_bind={"cartesian_command": "left_cartesian"})
 ```
 
 ## Joint State Views
diff --git a/dimos/control/_control_test_helpers.py b/dimos/control/_control_test_helpers.py
index c0a37ecef2..9bf5bb945c 100644
--- a/dimos/control/_control_test_helpers.py
+++ b/dimos/control/_control_test_helpers.py
@@ -40,6 +40,7 @@ def __init__(self, name: str, joints: frozenset[str] = frozenset()) -> None:
         self.cartesian_calls: list[tuple[Any, float]] = []
         self.ee_twist_calls: list[tuple[Any, float]] = []
         self.buttons_calls: list[Any] = []
+        self.gripper_calls: list[tuple[Any, float]] = []
 
     def claim(self) -> ResourceClaim:
         return ResourceClaim(joints=self._joints)
@@ -61,6 +62,10 @@ def on_ee_twist_command(self, twist: Any, t_now: float) -> bool:
         self.ee_twist_calls.append((twist, t_now))
         return True
 
+    def on_gripper_command(self, msg: Any, t_now: float) -> bool:
+        self.gripper_calls.append((msg, t_now))
+        return True
+
     def on_buttons(self, msg: Any) -> bool:
         self.buttons_calls.append(msg)
         return True
diff --git a/dimos/control/coordinator.py b/dimos/control/coordinator.py
index eeed8dead0..c212a50c75 100644
--- a/dimos/control/coordinator.py
+++ b/dimos/control/coordinator.py
@@ -64,9 +64,7 @@
 )
 from dimos.hardware.manipulators.spec import ManipulatorAdapter
 from dimos.hardware.whole_body.spec import WholeBodyAdapter
-from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.msgs.geometry_msgs.Twist import Twist
-from dimos.msgs.geometry_msgs.TwistStamped import TwistStamped
 from dimos.msgs.sensor_msgs.JointState import JointState
 from dimos.msgs.std_msgs.Bool import Bool
 from dimos.msgs.trajectory_msgs.JointTrajectory import JointTrajectory
@@ -164,14 +162,6 @@ class ControlCoordinator(Module):
     # Input: Streaming joint commands for real-time control
     joint_command: In[JointState]
 
-    # Input: Streaming cartesian commands for CartesianIKTask
-    # Uses frame_id as task name for routing
-    coordinator_cartesian_command: In[PoseStamped]
-
-    # Input: Routed spatial EEF twist commands for EEFTwistTask.
-    # Uses frame_id as task name for routing.
-    coordinator_ee_twist_command: In[TwistStamped]
-
     # Input: Streaming twist commands for velocity-commanded platforms
     twist_command: In[Twist]
 
@@ -199,9 +189,9 @@ def __init__(self, *args: Any, **kwargs: Any) -> None:
         self._trajectory_task: JointTrajectoryTask | None = None
 
         # Card-declared stream routes, keyed by the port stream_bind resolved to:
-        # port -> (task, handler, routing). Guarded by _task_lock; entries are
-        # added/pruned with their task.
-        self._routes: dict[str, list[tuple[ControlTask, str, Routing]]] = {}
+        # port -> (task, bound handler, routing). Guarded by _task_lock; entries
+        # are added/pruned with their task.
+        self._routes: dict[str, list[tuple[ControlTask, Callable[[Any, float], Any], Routing]]] = {}
 
         # Card-declared command names per task, keyed by task name.
         # Guarded by _task_lock; added/pruned with their task.
@@ -238,9 +228,7 @@ def _setup_from_config(self) -> None:
                 if self.add_task(task, task_type=task_cfg.type, stream_bind=task_cfg.stream_bind):
                     tasks_added.append(task.name)
                 if task_cfg.auto_start:
-                    start = getattr(task, "start", None)
-                    if callable(start):
-                        start()
+                    self.task_invoke(task.name, "start")
 
         except Exception:
             # Roll back everything this call added, tasks first: an active task
@@ -576,6 +564,12 @@ def _register_routes(
 
         for binding in bindings.consumes:
             port = ports[binding.stream]
+            handler = getattr(task, binding.handler, None)
+            if not callable(handler):
+                raise TypeError(
+                    f"{where}: card binds stream {binding.stream!r} to handler "
+                    f"{binding.handler!r}, but the task has no callable {binding.handler!r}"
+                )
             if binding.routing is Routing.DIRECT:
                 sharing = [t.name for t, _h, r in self._routes.get(port, ()) if r is Routing.DIRECT]
                 if sharing:
@@ -586,7 +580,7 @@ def _register_routes(
                         task_name=task.name,
                         also_bound=sharing,
                     )
-            self._routes.setdefault(port, []).append((task, binding.handler, binding.routing))
+            self._routes.setdefault(port, []).append((task, handler, binding.routing))
 
     def _commands_for(self, task_type: str) -> frozenset[str]:
         """The command names the task type declares in its TASK_EXPOSES card."""
@@ -667,7 +661,7 @@ def get_active_tasks(self) -> list[str]:
     def _dispatch(self, stream: str, msg: Any) -> None:
         """Deliver a stream message to its card-routed tasks per each entry's routing rule.
 
-        BROADCAST and DIRECT are ungated, so only the other two rules appear below.
+        BROADCAST and DIRECT are ungated, so only CLAIM_OVERLAP appears below.
         """
         t_now = time.perf_counter()
         with self._task_lock:
@@ -676,39 +670,23 @@ def _dispatch(self, stream: str, msg: Any) -> None:
                 return
 
             claimable: set[str] | None = None
-            frame_id = getattr(msg, "frame_id", "")
-            by_name_bound = False
-            by_name_matched = False
 
-            for task, handler_name, routing in entries:
+            for task, handler, routing in entries:
                 if routing is Routing.CLAIM_OVERLAP:
                     if claimable is None:
                         claimable = set(getattr(msg, "name", ()) or ())
                     if not claimable or not (task.claim().joints & claimable):
                         continue
-                elif routing is Routing.BY_TASK_NAME:
-                    by_name_bound = True
-                    if not frame_id or task.name != frame_id:
-                        continue
-                    by_name_matched = True
                 try:
-                    getattr(task, handler_name)(msg, t_now)
+                    handler(msg, t_now)
                 except Exception:
                     logger.exception(
                         "Stream handler raised on task",
-                        handler=handler_name,
+                        handler=handler.__name__,
                         task_name=task.name,
                         stream=stream,
                     )
 
-            if by_name_bound and not by_name_matched:
-                if not frame_id:
-                    logger.warning("Stream message with empty frame_id (task name)", stream=stream)
-                else:
-                    logger.warning(
-                        "Stream message for unknown task", stream=stream, task_name=frame_id
-                    )
-
     def _map_twist_to_base_joints(self, msg: Twist) -> None:
         """Map Twist onto BASE virtual joints (base/vx ← linear.x, ...) via joint_command."""
         names: list[str] = []
diff --git a/dimos/control/examples/cartesian_ik_jogger.py b/dimos/control/examples/cartesian_ik_jogger.py
index 09e30acb0b..8a48c91133 100644
--- a/dimos/control/examples/cartesian_ik_jogger.py
+++ b/dimos/control/examples/cartesian_ik_jogger.py
@@ -14,8 +14,8 @@
 
 """Pygame-based cartesian jogger for CartesianIKTask.
 
-Publishes PoseStamped commands to the coordinator via LCM.
-The frame_id is used as the task name for routing.
+Publishes PoseStamped commands to the coordinator's cartesian_command
+port via LCM.
 
 Keyboard controls for jogging robot end-effector in world frame:
     W/S: +X/-X (forward/backward)
@@ -123,12 +123,8 @@ def from_fk(
             yaw=float(rpy[2]),
         )
 
-    def to_pose_stamped(self, task_name: str) -> Any:
-        """Convert to PoseStamped for LCM publishing.
-
-        Args:
-            task_name: Task name to use as frame_id for routing
-        """
+    def to_pose_stamped(self) -> Any:
+        """Convert to PoseStamped for LCM publishing."""
         from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
         from dimos.msgs.geometry_msgs.Quaternion import Quaternion
         from dimos.msgs.geometry_msgs.Vector3 import Vector3
@@ -138,7 +134,6 @@ def to_pose_stamped(self, task_name: str) -> Any:
 
         return PoseStamped(
             ts=time.time(),
-            frame_id=task_name,  # Used for task routing
             position=position,
             orientation=orientation,
         )
@@ -153,9 +148,6 @@ def to_pose_stamped(self, task_name: str) -> Any:
 Y_LIMITS = (-0.5, 0.5)
 Z_LIMITS = (-0.2, 0.6)
 
-# Task name for routing (must match blueprint config)
-TASK_NAME = "cartesian_ik_arm"
-
 
 def clamp(value: float, min_val: float, max_val: float) -> float:
     return max(min_val, min(max_val, value))
@@ -188,13 +180,11 @@ def run_jogger_ui(model_path: str | None = None, ee_joint_id: int = 6) -> None:
         model_path = _get_piper_model_path()
 
     print("Starting Cartesian IK Jogger UI...")
-    print("Publishing to /coordinator_cartesian_command")
+    print("Publishing to /cartesian_command")
     print("(Coordinator must be running separately to receive commands)")
 
     # Create LCM publisher for sending cartesian commands
-    transport: LCMTransport[PoseStamped] = LCMTransport(
-        "/coordinator_cartesian_command", PoseStamped
-    )
+    transport: LCMTransport[PoseStamped] = LCMTransport("/cartesian_command", PoseStamped)
 
     # Initialize pygame
     pygame.init()
@@ -209,7 +199,7 @@ def run_jogger_ui(model_path: str | None = None, ee_joint_id: int = 6) -> None:
     current_pose = home_pose.copy()
 
     # Send initial pose via LCM
-    transport.publish(current_pose.to_pose_stamped(TASK_NAME))
+    transport.publish(current_pose.to_pose_stamped())
 
     running = True
     last_time = time.perf_counter()
@@ -276,8 +266,8 @@ def run_jogger_ui(model_path: str | None = None, ee_joint_id: int = 6) -> None:
         current_pose.y = clamp(current_pose.y, *Y_LIMITS)
         current_pose.z = clamp(current_pose.z, *Z_LIMITS)
 
-        # Publish pose via LCM (frame_id = task name for routing)
-        transport.publish(current_pose.to_pose_stamped(TASK_NAME))
+        # Publish pose via LCM
+        transport.publish(current_pose.to_pose_stamped())
 
         # Draw UI
         screen.fill((30, 30, 30))
diff --git a/dimos/control/routing.py b/dimos/control/routing.py
index b90800d07b..347dc515f3 100644
--- a/dimos/control/routing.py
+++ b/dimos/control/routing.py
@@ -29,7 +29,6 @@ class Routing(str, Enum):
     """How the coordinator matches an input message to a consuming task."""
 
     CLAIM_OVERLAP = "claim_overlap"  # deliver when msg names joints the task claims
-    BY_TASK_NAME = "by_task_name"  # deliver when msg.frame_id == task.name
     BROADCAST = "broadcast"  # deliver to every task consuming this stream
     DIRECT = "direct"  # like broadcast, but the port is meant to have one task on it
 
diff --git a/dimos/control/tasks/cartesian_ik_task/_registry.py b/dimos/control/tasks/cartesian_ik_task/_registry.py
index a8a684af33..eea153bb68 100644
--- a/dimos/control/tasks/cartesian_ik_task/_registry.py
+++ b/dimos/control/tasks/cartesian_ik_task/_registry.py
@@ -18,6 +18,10 @@
 
 TASK_CONSUMES = {
     "cartesian_ik": {
-        "coordinator_cartesian_command": ("on_cartesian_command", "by_task_name"),
+        "cartesian_command": ("on_cartesian_command", "direct"),
     },
 }
+
+TASK_EXPOSES = {
+    "cartesian_ik": ["start"],
+}
diff --git a/dimos/control/tasks/eef_twist_task/_registry.py b/dimos/control/tasks/eef_twist_task/_registry.py
index 72ceb439cc..d02b7bb460 100644
--- a/dimos/control/tasks/eef_twist_task/_registry.py
+++ b/dimos/control/tasks/eef_twist_task/_registry.py
@@ -18,7 +18,7 @@
 
 TASK_CONSUMES = {
     "eef_twist": {
-        "coordinator_ee_twist_command": ("on_ee_twist_command", "by_task_name"),
+        "ee_twist_command": ("on_ee_twist_command", "direct"),
         "gripper_command": ("on_gripper_command", "broadcast"),
     },
 }
diff --git a/dimos/control/tasks/g1_groot_wbc_task/_registry.py b/dimos/control/tasks/g1_groot_wbc_task/_registry.py
index 9ac1d91df5..d38545151a 100644
--- a/dimos/control/tasks/g1_groot_wbc_task/_registry.py
+++ b/dimos/control/tasks/g1_groot_wbc_task/_registry.py
@@ -21,5 +21,5 @@
 }
 
 TASK_EXPOSES: dict[str, list[str]] = {
-    "g1_groot_wbc": ["arm", "disarm", "set_dry_run", "reset_runtime_state"],
+    "g1_groot_wbc": ["arm", "disarm", "set_dry_run", "reset_runtime_state", "start"],
 }
diff --git a/dimos/control/tasks/servo_task/_registry.py b/dimos/control/tasks/servo_task/_registry.py
index 0e5d1c72be..feac45d3f7 100644
--- a/dimos/control/tasks/servo_task/_registry.py
+++ b/dimos/control/tasks/servo_task/_registry.py
@@ -19,3 +19,7 @@
 TASK_CONSUMES = {
     "servo": {"joint_command": ("on_joint_command", "claim_overlap")},
 }
+
+TASK_EXPOSES = {
+    "servo": ["start"],
+}
diff --git a/dimos/control/tasks/teleop_task/_registry.py b/dimos/control/tasks/teleop_task/_registry.py
index effce16866..cd0c5127c0 100644
--- a/dimos/control/tasks/teleop_task/_registry.py
+++ b/dimos/control/tasks/teleop_task/_registry.py
@@ -18,7 +18,7 @@
 
 TASK_CONSUMES = {
     "teleop_ik": {
-        "coordinator_cartesian_command": ("on_cartesian_command", "by_task_name"),
+        "cartesian_command": ("on_cartesian_command", "direct"),
         "teleop_buttons": ("on_teleop_buttons", "broadcast"),
     },
 }
diff --git a/dimos/control/tasks/test_registry.py b/dimos/control/tasks/test_registry.py
index 9166804da7..fee5cc5e86 100644
--- a/dimos/control/tasks/test_registry.py
+++ b/dimos/control/tasks/test_registry.py
@@ -144,29 +144,33 @@ def test_seeded_cards_load_into_registry() -> None:
     assert servo.consumes == (
         StreamBinding("joint_command", "on_joint_command", Routing.CLAIM_OVERLAP),
     )
+    assert servo.exposes == frozenset({"start"})
     velocity = control_task_registry.bindings_for("velocity")
     assert velocity.consumes == (
         StreamBinding("joint_command", "on_joint_command", Routing.CLAIM_OVERLAP),
     )
+    assert velocity.exposes == frozenset({"start"})
     cartesian = control_task_registry.bindings_for("cartesian_ik")
     assert cartesian.consumes == (
-        StreamBinding(
-            "coordinator_cartesian_command", "on_cartesian_command", Routing.BY_TASK_NAME
-        ),
+        StreamBinding("cartesian_command", "on_cartesian_command", Routing.DIRECT),
     )
+    assert cartesian.exposes == frozenset({"start"})
     teleop = control_task_registry.bindings_for("teleop_ik")
     assert teleop.consumes == (
-        StreamBinding(
-            "coordinator_cartesian_command", "on_cartesian_command", Routing.BY_TASK_NAME
-        ),
+        StreamBinding("cartesian_command", "on_cartesian_command", Routing.DIRECT),
         StreamBinding("teleop_buttons", "on_teleop_buttons", Routing.BROADCAST),
     )
+    eef_twist = control_task_registry.bindings_for("eef_twist")
+    assert eef_twist.consumes == (
+        StreamBinding("ee_twist_command", "on_ee_twist_command", Routing.DIRECT),
+        StreamBinding("gripper_command", "on_gripper_command", Routing.BROADCAST),
+    )
     trajectory = control_task_registry.bindings_for("trajectory")
     assert trajectory.consumes == ()  # command-driven only
     assert trajectory.exposes == frozenset({"execute", "cancel", "get_state"})
     g1 = control_task_registry.bindings_for("g1_groot_wbc")
     assert g1.consumes == (StreamBinding("twist_command", "on_twist_command", Routing.BROADCAST),)
-    assert g1.exposes == frozenset({"arm", "disarm", "set_dry_run", "reset_runtime_state"})
+    assert g1.exposes == frozenset({"arm", "disarm", "set_dry_run", "reset_runtime_state", "start"})
 
 
 def _scannable_task_classes(task_type: str) -> list[type] | None:
diff --git a/dimos/control/tasks/velocity_task/_registry.py b/dimos/control/tasks/velocity_task/_registry.py
index b866135d30..4d6c438faa 100644
--- a/dimos/control/tasks/velocity_task/_registry.py
+++ b/dimos/control/tasks/velocity_task/_registry.py
@@ -19,3 +19,7 @@
 TASK_CONSUMES = {
     "velocity": {"joint_command": ("on_joint_command", "claim_overlap")},
 }
+
+TASK_EXPOSES = {
+    "velocity": ["start"],
+}
diff --git a/dimos/control/test_control.py b/dimos/control/test_control.py
index cbd3dd9f48..12c7641c69 100644
--- a/dimos/control/test_control.py
+++ b/dimos/control/test_control.py
@@ -34,7 +34,6 @@
 )
 from dimos.control.coordinator import ControlCoordinator, TaskConfig
 from dimos.control.hardware_interface import ConnectedHardware, ConnectedTwistBase
-from dimos.control.routing import Routing
 from dimos.control.task import (
     BaseControlTask,
     ControlMode,
@@ -50,6 +49,7 @@
     TrajectoryExecutionStatus,
 )
 from dimos.control.tick_loop import TickLoop
+from dimos.core.stream import In
 from dimos.hardware.manipulators.spec import ManipulatorAdapter
 from dimos.msgs.geometry_msgs.Twist import Twist
 from dimos.msgs.geometry_msgs.TwistStamped import TwistStamped
@@ -240,8 +240,10 @@ def make_coordinator() -> Iterator[Callable[..., ControlCoordinator]]:
     """Factory for real coordinators, all stopped on teardown."""
     coordinators: list[ControlCoordinator] = []
 
-    def make(**kwargs: Any) -> ControlCoordinator:
-        coordinator = ControlCoordinator(publish_joint_state=False, **kwargs)
+    def make(
+        cls: type[ControlCoordinator] = ControlCoordinator, **kwargs: Any
+    ) -> ControlCoordinator:
+        coordinator = cls(publish_joint_state=False, **kwargs)
         coordinators.append(coordinator)
         return coordinator
 
@@ -252,36 +254,19 @@ def make(**kwargs: Any) -> ControlCoordinator:
             coordinator.stop()
 
 
-class TestControlCoordinatorLifecycle:
-    def test_dispatch_routes_ee_twist_only_to_matching_frame_id(self, make_coordinator):
-        coordinator = make_coordinator()
-        matching_task = RecordingTask("eef")
-        other_task = RecordingTask("other")
-        coordinator._tasks = {"eef": matching_task, "other": other_task}
-        coordinator._routes = {
-            "coordinator_ee_twist_command": [
-                (matching_task, "on_ee_twist_command", Routing.BY_TASK_NAME),
-                (other_task, "on_ee_twist_command", Routing.BY_TASK_NAME),
-            ]
-        }
+class _EEFTwistCoordinator(ControlCoordinator):
+    ee_twist_command: In[TwistStamped]
 
-        for frame_id in ("eef", "missing", ""):
-            coordinator._dispatch(
-                "coordinator_ee_twist_command",
-                TwistStamped(frame_id=frame_id, linear=[0.1, 0.0, 0.0], angular=[0.0, 0.0, 0.0]),
-            )
-
-        assert len(matching_task.ee_twist_calls) == 1
-        assert other_task.ee_twist_calls == []
 
+class TestControlCoordinatorLifecycle:
     def test_start_subscribes_ee_twist_only_for_eef_twist_tasks(self, make_coordinator, mocker):
         mocker.patch("dimos.core.module.Module.start")
         mocker.patch("dimos.control.coordinator.TickLoop")
 
         def start_coordinator(tasks):
-            coordinator = make_coordinator(tasks=tasks)
+            coordinator = make_coordinator(cls=_EEFTwistCoordinator, tasks=tasks)
             coordinator._create_task_from_config = lambda cfg: RecordingTask(cfg.name)
-            subscribe = mocker.patch.object(coordinator.coordinator_ee_twist_command, "subscribe")
+            subscribe = mocker.patch.object(coordinator.ee_twist_command, "subscribe")
             coordinator.start()
             return coordinator, subscribe
 
@@ -305,7 +290,7 @@ def start_coordinator(tasks):
     def test_stop_unsubscribes_ee_twist_subscription(self, make_coordinator, mocker):
         coordinator = make_coordinator()
         unsubscribe = mocker.Mock()
-        coordinator._stream_unsubs = {"coordinator_ee_twist_command": unsubscribe}
+        coordinator._stream_unsubs = {"ee_twist_command": unsubscribe}
 
         coordinator.stop()
 
@@ -352,6 +337,11 @@ def compute(self, state: CoordinatorState) -> JointCommandOutput | None:
             def on_preempted(self, by_task: str, joints: frozenset[str]) -> None:
                 pass
 
+            def on_twist_command(self, msg: Any, t_now: float) -> None:
+                # The g1_groot_wbc card binds twist_command; add_task now
+                # resolves handlers at registration, so the stub needs it.
+                pass
+
             def reset_runtime_state(self, reactivate: bool | None = None) -> bool:
                 self.reset_reactivate_args.append(reactivate)
                 return True
diff --git a/dimos/control/test_coordinator_commands.py b/dimos/control/test_coordinator_commands.py
index 1750fe16cc..65a71d7379 100644
--- a/dimos/control/test_coordinator_commands.py
+++ b/dimos/control/test_coordinator_commands.py
@@ -79,6 +79,14 @@ def compute(self, state: CoordinatorState) -> JointCommandOutput | None:
     def on_preempted(self, by_task: str, joints: frozenset[str]) -> None:
         pass
 
+    # Card-consumed streams: add_task resolves handlers at registration,
+    # so a stub registered under servo / g1_groot_wbc must carry them.
+    def on_joint_command(self, msg: Any, t_now: float) -> None:
+        pass
+
+    def on_twist_command(self, msg: Any, t_now: float) -> None:
+        pass
+
     # Trajectory commands
     def execute(self, trajectory: Any) -> bool:
         self.executed = trajectory
diff --git a/dimos/control/test_coordinator_routing.py b/dimos/control/test_coordinator_routing.py
index 60733c468a..19d3a5b603 100644
--- a/dimos/control/test_coordinator_routing.py
+++ b/dimos/control/test_coordinator_routing.py
@@ -15,11 +15,11 @@
 """Characterization tests for coordinator input-stream routing.
 
 These pin the observable routing behavior of the coordinator's input
-streams (joint_command, coordinator_cartesian_command,
-coordinator_ee_twist_command, twist_command, teleop_buttons) so the
-card-routing refactor can prove it preserves them. They intentionally
-avoid coordinator internals: messages enter through the ports'
-``subscribe`` seam and effects are observed on the tasks.
+streams (joint_command, twist_command, teleop_buttons, plus the
+per-instance command ports subclasses declare) so routing refactors can
+prove they preserve them. They intentionally avoid coordinator
+internals: messages enter through the ports' ``subscribe`` seam and
+effects are observed on the tasks.
 """
 
 from __future__ import annotations
@@ -52,10 +52,9 @@
 
 STREAMS = (
     "joint_command",
-    "coordinator_cartesian_command",
-    "coordinator_ee_twist_command",
     "twist_command",
     "teleop_buttons",
+    "gripper_command",
 )
 
 
@@ -199,78 +198,95 @@ def test_empty_message_routes_to_nobody(self, make_coordinator):
         assert coordinator.get_task("vel1")._velocities is None
 
 
-class TestByTaskNameRouting:
-    @staticmethod
-    def _cartesian_coordinator(make_coordinator):
-        coordinator, taps = make_coordinator(
-            stub_task_types=True,
-            tasks=[
-                TaskConfig(name="cart_a", type="cartesian_ik", joint_names=ARM_JOINTS),
-                TaskConfig(name="cart_b", type="cartesian_ik", joint_names=ARM_JOINTS),
-            ],
-        )
-        coordinator.start()
-        return coordinator, taps
+class SingleArmControlCoordinator(ControlCoordinator):
+    """Single-instance deployment: ports named like the cards' logical inputs."""
 
-    def test_cartesian_delivered_only_to_named_task(self, make_coordinator):
-        coordinator, taps = self._cartesian_coordinator(make_coordinator)
+    cartesian_command: In[PoseStamped]
+    ee_twist_command: In[TwistStamped]
 
-        taps["coordinator_cartesian_command"].emit(PoseStamped(frame_id="cart_a"))
 
-        cart_a = coordinator.get_task("cart_a")
-        cart_b = coordinator.get_task("cart_b")
-        assert len(cart_a.cartesian_calls) == 1
-        msg, t_now = cart_a.cartesian_calls[0]
-        assert msg.frame_id == "cart_a"
-        assert isinstance(t_now, float)
-        assert cart_b.cartesian_calls == []
+class DualArmControlCoordinator(ControlCoordinator):
+    """One cartesian port per arm, as in the dual-arm quest teleop."""
 
-    @pytest.mark.parametrize("frame_id", ["unknown_task", ""])
-    def test_cartesian_unmatched_frame_id_delivers_nothing(self, make_coordinator, frame_id):
-        coordinator, taps = self._cartesian_coordinator(make_coordinator)
+    left_cartesian: In[PoseStamped]
+    right_cartesian: In[PoseStamped]
 
-        taps["coordinator_cartesian_command"].emit(PoseStamped(frame_id=frame_id))
 
-        assert coordinator.get_task("cart_a").cartesian_calls == []
-        assert coordinator.get_task("cart_b").cartesian_calls == []
+class TestPerInstanceCommandRouting:
+    """Cartesian/EEF-twist commands address tasks by port, not payload."""
 
-    @staticmethod
-    def _ee_twist_coordinator(make_coordinator):
+    def test_dual_arm_ports_isolate_left_from_right(self, make_coordinator):
         coordinator, taps = make_coordinator(
+            coordinator_cls=DualArmControlCoordinator,
             stub_task_types=True,
             tasks=[
-                TaskConfig(name="eef_a", type="eef_twist", joint_names=ARM_JOINTS),
-                TaskConfig(name="eef_b", type="eef_twist", joint_names=ARM_JOINTS),
+                TaskConfig(
+                    name="teleop_left",
+                    type="teleop_ik",
+                    joint_names=ARM_JOINTS,
+                    stream_bind={"cartesian_command": "left_cartesian"},
+                ),
+                TaskConfig(
+                    name="teleop_right",
+                    type="teleop_ik",
+                    joint_names=ARM_JOINTS,
+                    stream_bind={"cartesian_command": "right_cartesian"},
+                ),
             ],
         )
         coordinator.start()
-        return coordinator, taps
 
-    def test_ee_twist_delivered_only_to_named_task(self, make_coordinator):
-        coordinator, taps = self._ee_twist_coordinator(make_coordinator)
+        taps["left_cartesian"].emit(PoseStamped())
+
+        left = coordinator.get_task("teleop_left")
+        right = coordinator.get_task("teleop_right")
+        assert len(left.cartesian_calls) == 1
+        assert right.cartesian_calls == []
+
+        taps["right_cartesian"].emit(PoseStamped())
 
-        taps["coordinator_ee_twist_command"].emit(
-            TwistStamped(frame_id="eef_a", linear=[0.1, 0.0, 0.0], angular=[0.0, 0.0, 0.0])
+        assert len(left.cartesian_calls) == 1
+        assert len(right.cartesian_calls) == 1
+
+    def test_cartesian_name_match_needs_no_stream_bind(self, make_coordinator):
+        coordinator, taps = make_coordinator(
+            coordinator_cls=SingleArmControlCoordinator,
+            stub_task_types=True,
+            tasks=[TaskConfig(name="cart", type="cartesian_ik", joint_names=ARM_JOINTS)],
         )
+        coordinator.start()
 
-        assert len(coordinator.get_task("eef_a").ee_twist_calls) == 1
-        assert coordinator.get_task("eef_b").ee_twist_calls == []
+        taps["cartesian_command"].emit(PoseStamped())
 
-    @pytest.mark.parametrize("frame_id", ["unknown_task", ""])
-    def test_ee_twist_unmatched_frame_id_delivers_nothing(self, make_coordinator, frame_id):
-        coordinator, taps = self._ee_twist_coordinator(make_coordinator)
+        calls = coordinator.get_task("cart").cartesian_calls
+        assert len(calls) == 1
+        assert isinstance(calls[0][1], float)
 
-        taps["coordinator_ee_twist_command"].emit(
-            TwistStamped(frame_id=frame_id, linear=[0.1, 0.0, 0.0], angular=[0.0, 0.0, 0.0])
+    def test_frame_id_is_not_consulted(self, make_coordinator, mocker):
+        # Intentional delta from frame_id addressing: frame_id means a
+        # coordinate frame again — a stale task-name stamp neither routes,
+        # blocks, nor warns, and the payload reaches the handler untouched.
+        coordinator, taps = make_coordinator(
+            coordinator_cls=SingleArmControlCoordinator,
+            stub_task_types=True,
+            tasks=[TaskConfig(name="cart", type="cartesian_ik", joint_names=ARM_JOINTS)],
         )
+        coordinator.start()
+        warn = mocker.patch.object(coord_mod.logger, "warning")
+
+        taps["cartesian_command"].emit(PoseStamped(frame_id="some_other_task"))
+        taps["cartesian_command"].emit(PoseStamped(frame_id=""))
 
-        assert coordinator.get_task("eef_a").ee_twist_calls == []
-        assert coordinator.get_task("eef_b").ee_twist_calls == []
+        calls = coordinator.get_task("cart").cartesian_calls
+        assert len(calls) == 2
+        assert calls[0][0].frame_id == "some_other_task"
+        assert not warn.called
 
 
 class TestButtonsRouting:
     def test_buttons_reach_teleop_task(self, make_coordinator):
         coordinator, taps = make_coordinator(
+            coordinator_cls=SingleArmControlCoordinator,
             stub_task_types=True,
             tasks=[TaskConfig(name="teleop1", type="teleop_ik", joint_names=ARM_JOINTS)],
         )
@@ -587,6 +603,7 @@ class TestCardRoutingContract:
 
     def test_buttons_skip_card_less_tasks(self, make_coordinator):
         coordinator, taps = make_coordinator(
+            coordinator_cls=SingleArmControlCoordinator,
             stub_task_types=True,
             tasks=[TaskConfig(name="teleop1", type="teleop_ik", joint_names=ARM_JOINTS)],
         )
diff --git a/dimos/imitation/collection/test_blueprint.py b/dimos/imitation/collection/test_blueprint.py
index 18757c8c1c..ba3b4e31c5 100644
--- a/dimos/imitation/collection/test_blueprint.py
+++ b/dimos/imitation/collection/test_blueprint.py
@@ -40,7 +40,8 @@ def _joint_streams(blueprint: Blueprint) -> dict[tuple[str, str], str]:
 def test_recorder_reads_aggregate_joint_state(blueprint: Blueprint) -> None:
     streams = _joint_streams(blueprint)
 
-    # Plain name pairing on both ends, no remap in between.
+    # Plain name pairing on both ends, no remap in between. The coordinator
+    # atom carries its explicit instance_name (the RPC lookup contract).
     assert streams[("collectionrecorder", AGGREGATE)] == AGGREGATE
-    assert streams[("controlcoordinator", AGGREGATE)] == AGGREGATE
+    assert streams[("ControlCoordinator", AGGREGATE)] == AGGREGATE
     assert not [port for _instance, port in streams if port.endswith("_joints")]
diff --git a/dimos/robot/all_blueprints.py b/dimos/robot/all_blueprints.py
index 27040d927e..bfaa8019fd 100644
--- a/dimos/robot/all_blueprints.py
+++ b/dimos/robot/all_blueprints.py
@@ -166,7 +166,10 @@
 all_modules = {
     "alfred-high-level": "dimos.robot.diy.alfred.effector_high_level.AlfredHighLevel",
     "arm-command-module": "dimos.teleop.hosted.arm_command.ArmCommandModule",
+    "arm-pose-coordinator": "dimos.robot.manipulators.common.coordinators.ArmPoseCoordinator",
+    "arm-pose-twist-coordinator": "dimos.robot.manipulators.common.coordinators.ArmPoseTwistCoordinator",
     "arm-teleop-module": "dimos.teleop.quest.quest_extensions.ArmTeleopModule",
+    "arm-twist-coordinator": "dimos.robot.manipulators.common.coordinators.ArmTwistCoordinator",
     "b-box-navigation-module": "dimos.navigation.bbox_navigation.BBoxNavigationModule",
     "b1-connection-module": "dimos.robot.unitree.b1.connection.B1ConnectionModule",
     "basic-path-follower": "dimos.navigation.basic_path_follower.module.BasicPathFollower",
diff --git a/dimos/robot/manipulators/a1z/blueprints/teleop.py b/dimos/robot/manipulators/a1z/blueprints/teleop.py
index 4cc2a1a8da..67d67f0cef 100644
--- a/dimos/robot/manipulators/a1z/blueprints/teleop.py
+++ b/dimos/robot/manipulators/a1z/blueprints/teleop.py
@@ -16,7 +16,7 @@
 
 from __future__ import annotations
 
-from dimos.control.coordinator import ControlCoordinator, TaskConfig
+from dimos.control.coordinator import TaskConfig
 from dimos.core.coordination.blueprints import autoconnect
 from dimos.manipulation.manipulation_module import ManipulationModule
 from dimos.robot.manipulators.a1z.config import (
@@ -28,6 +28,10 @@
     teleop_ik_task,
     trajectory_task,
 )
+from dimos.robot.manipulators.common.coordinators import (
+    ArmPoseCoordinator,
+    ArmTwistCoordinator,
+)
 from dimos.teleop.keyboard.keyboard_teleop_module import KeyboardTeleopModule
 
 _a1z_keyboard_hw = a1z_hardware("arm")
@@ -35,7 +39,8 @@
 
 keyboard_teleop_a1z = autoconnect(
     KeyboardTeleopModule.blueprint(),
-    ControlCoordinator.blueprint(
+    ArmTwistCoordinator.blueprint(
+        instance_name="ControlCoordinator",
         hardware=[_a1z_keyboard_hw],
         tasks=[
             eef_twist_task(
@@ -63,7 +68,8 @@
 _a1z_quest_model = make_a1z_model_config()
 
 coordinator_teleop_a1z = autoconnect(
-    ControlCoordinator.blueprint(
+    ArmPoseCoordinator.blueprint(
+        instance_name="ControlCoordinator",
         hardware=[_a1z_quest_hw],
         tasks=[
             teleop_ik_task(
diff --git a/dimos/robot/manipulators/a1z/blueprints/test_teleop.py b/dimos/robot/manipulators/a1z/blueprints/test_teleop.py
index a7b8b51cc1..86c9aa2892 100644
--- a/dimos/robot/manipulators/a1z/blueprints/test_teleop.py
+++ b/dimos/robot/manipulators/a1z/blueprints/test_teleop.py
@@ -22,11 +22,14 @@
 from dimos.robot.manipulators.a1z.blueprints.teleop import coordinator_teleop_a1z
 from dimos.robot.manipulators.a1z.config import a1z_hardware
 from dimos.teleop.quest.blueprints import teleop_quest_a1z
-from dimos.teleop.quest.quest_extensions import ArmTeleopModule
 
 
 def _coordinator_kwargs(blueprint: Blueprint) -> dict[str, Any]:
-    return next(atom.kwargs for atom in blueprint.blueprints if atom.module is ControlCoordinator)
+    return next(
+        atom.kwargs
+        for atom in blueprint.blueprints
+        if isinstance(atom.module, type) and issubclass(atom.module, ControlCoordinator)
+    )
 
 
 def test_quest_teleop_uses_mock_a1z_hardware_and_gripper_by_default() -> None:
@@ -46,13 +49,8 @@ def test_quest_teleop_uses_mock_a1z_hardware_and_gripper_by_default() -> None:
 
 
 def test_quest_left_controller_routes_to_a1z_teleop() -> None:
-    arm_kwargs = next(
-        atom.kwargs for atom in teleop_quest_a1z.blueprints if atom.module is ArmTeleopModule
-    )
-
-    assert arm_kwargs["task_names"] == {"left": "teleop_a1z"}
     assert teleop_quest_a1z.remapping_map == {
-        ("armteleopmodule", "left_controller_output"): "coordinator_cartesian_command"
+        ("armteleopmodule", "left_controller_output"): "cartesian_command"
     }
 
 
diff --git a/dimos/robot/manipulators/a750/blueprints/teleop.py b/dimos/robot/manipulators/a750/blueprints/teleop.py
index 90435cb267..6bb57a202d 100644
--- a/dimos/robot/manipulators/a750/blueprints/teleop.py
+++ b/dimos/robot/manipulators/a750/blueprints/teleop.py
@@ -16,14 +16,18 @@
 
 from __future__ import annotations
 
-from dimos.control.coordinator import ControlCoordinator
 from dimos.core.coordination.blueprints import autoconnect
 from dimos.manipulation.manipulation_module import ManipulationModule
 from dimos.robot.manipulators.a750.config import (
     a750_hardware,
     make_a750_model_config,
 )
-from dimos.robot.manipulators.common.blueprints import eef_twist_task
+from dimos.robot.manipulators.common.blueprints import (
+    eef_twist_task,
+)
+from dimos.robot.manipulators.common.coordinators import (
+    ArmTwistCoordinator,
+)
 from dimos.teleop.keyboard.keyboard_teleop_module import KeyboardTeleopModule
 
 _a750_hw = a750_hardware("arm", mock_without_address=True)
@@ -31,7 +35,8 @@
 
 keyboard_teleop_a750 = autoconnect(
     KeyboardTeleopModule.blueprint(),
-    ControlCoordinator.blueprint(
+    ArmTwistCoordinator.blueprint(
+        instance_name="ControlCoordinator",
         tick_rate=100.0,
         publish_joint_state=True,
         joint_state_frame_id="coordinator",
diff --git a/dimos/robot/manipulators/common/blueprints.py b/dimos/robot/manipulators/common/blueprints.py
index 725b1255ff..1ac38a468b 100644
--- a/dimos/robot/manipulators/common/blueprints.py
+++ b/dimos/robot/manipulators/common/blueprints.py
@@ -174,6 +174,7 @@ def teleop_ik_task(
     max_dt: float = 0.05,
     control_ik: PinkControlIKOverrides | None = None,
     params: GripperTaskOverrides | None = None,
+    stream_bind: dict[str, str] | None = None,
 ) -> TaskConfig:
     resolved_control_ik = _resolve_control_ik(hardware, robot_model, control_ik)
     task_params: dict[str, Any] = {
@@ -193,6 +194,7 @@ def teleop_ik_task(
         joint_names=hardware.joints,
         priority=priority,
         params=task_params,
+        stream_bind=stream_bind or {},
     )
 
 
diff --git a/dimos/robot/manipulators/common/coordinators.py b/dimos/robot/manipulators/common/coordinators.py
new file mode 100644
index 0000000000..78c5d36072
--- /dev/null
+++ b/dimos/robot/manipulators/common/coordinators.py
@@ -0,0 +1,47 @@
+# Copyright 2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Coordinators named for the command a single arm accepts.
+
+Pose and twist commands are point-to-point: each consuming task instance
+reads its own port. A single-arm deployment needs one port named like the
+card's input, which is all these add — no control behavior. Multi-arm
+deployments declare a port per arm and bind each task with
+``TaskConfig.stream_bind`` instead.
+"""
+
+from __future__ import annotations
+
+from dimos.control.coordinator import ControlCoordinator
+from dimos.core.stream import In
+from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
+from dimos.msgs.geometry_msgs.TwistStamped import TwistStamped
+
+
+class ArmPoseCoordinator(ControlCoordinator):
+    """Arm driven by target poses; the cartesian_ik / teleop_ik cards name-match."""
+
+    cartesian_command: In[PoseStamped]
+
+
+class ArmTwistCoordinator(ControlCoordinator):
+    """Arm driven by EEF twists; the eef_twist card name-matches."""
+
+    ee_twist_command: In[TwistStamped]
+
+
+class ArmPoseTwistCoordinator(ArmPoseCoordinator):
+    """Arm accepting both, e.g. VR poses preempting a browser twist jog."""
+
+    ee_twist_command: In[TwistStamped]
diff --git a/dimos/robot/manipulators/common/mixed.py b/dimos/robot/manipulators/common/mixed.py
index fcd0615c2a..a9db3f3b24 100644
--- a/dimos/robot/manipulators/common/mixed.py
+++ b/dimos/robot/manipulators/common/mixed.py
@@ -18,6 +18,8 @@
 
 from dimos.control.coordinator import ControlCoordinator, TaskConfig
 from dimos.core.global_config import global_config
+from dimos.core.stream import In
+from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.robot.manipulators.common.blueprints import teleop_ik_task
 from dimos.robot.manipulators.piper.config import (
     make_piper_hardware,
@@ -69,7 +71,16 @@
 _xarm6_teleop_model = make_xarm6_model_config(name="xarm_arm", add_gripper=False)
 _piper_teleop_model = make_piper_model_config(name="piper_arm")
 
-coordinator_teleop_dual = ControlCoordinator.blueprint(
+
+class _DualTeleopCoordinator(ControlCoordinator):
+    """One cartesian port per arm; stream_bind gives each task its own."""
+
+    left_cartesian: In[PoseStamped]
+    right_cartesian: In[PoseStamped]
+
+
+coordinator_teleop_dual = _DualTeleopCoordinator.blueprint(
+    instance_name="ControlCoordinator",
     hardware=[_xarm6_teleop_hw, _piper_teleop_hw],
     tasks=[
         teleop_ik_task(
@@ -78,6 +89,7 @@
             hand="left",
             robot_model=_xarm6_teleop_model,
             priority=10,
+            stream_bind={"cartesian_command": "left_cartesian"},
         ),
         teleop_ik_task(
             _piper_teleop_hw,
@@ -85,6 +97,7 @@
             hand="right",
             robot_model=_piper_teleop_model,
             priority=10,
+            stream_bind={"cartesian_command": "right_cartesian"},
         ),
     ],
 )
diff --git a/dimos/robot/manipulators/openarm/blueprints/teleop.py b/dimos/robot/manipulators/openarm/blueprints/teleop.py
index eb6baae066..17000394bd 100644
--- a/dimos/robot/manipulators/openarm/blueprints/teleop.py
+++ b/dimos/robot/manipulators/openarm/blueprints/teleop.py
@@ -16,10 +16,14 @@
 
 from __future__ import annotations
 
-from dimos.control.coordinator import ControlCoordinator
 from dimos.core.coordination.blueprints import autoconnect
 from dimos.manipulation.manipulation_module import ManipulationModule
-from dimos.robot.manipulators.common.blueprints import eef_twist_task
+from dimos.robot.manipulators.common.blueprints import (
+    eef_twist_task,
+)
+from dimos.robot.manipulators.common.coordinators import (
+    ArmTwistCoordinator,
+)
 from dimos.robot.manipulators.openarm.config import (
     LEFT_CAN,
     openarm_single_hardware,
@@ -32,7 +36,8 @@
 
 keyboard_teleop_openarm_mock = autoconnect(
     KeyboardTeleopModule.blueprint(),
-    ControlCoordinator.blueprint(
+    ArmTwistCoordinator.blueprint(
+        instance_name="ControlCoordinator",
         hardware=[_teleop_hw],
         tasks=[
             eef_twist_task(
@@ -51,7 +56,8 @@
 
 keyboard_teleop_openarm = autoconnect(
     KeyboardTeleopModule.blueprint(),
-    ControlCoordinator.blueprint(
+    ArmTwistCoordinator.blueprint(
+        instance_name="ControlCoordinator",
         hardware=[_teleop_real_hw],
         tasks=[
             eef_twist_task(
diff --git a/dimos/robot/manipulators/openyam/blueprints/teleop.py b/dimos/robot/manipulators/openyam/blueprints/teleop.py
index 16a5fdffff..8d221577dc 100644
--- a/dimos/robot/manipulators/openyam/blueprints/teleop.py
+++ b/dimos/robot/manipulators/openyam/blueprints/teleop.py
@@ -16,10 +16,14 @@
 
 from __future__ import annotations
 
-from dimos.control.coordinator import ControlCoordinator
 from dimos.core.coordination.blueprints import autoconnect
 from dimos.manipulation.manipulation_module import ManipulationModule
-from dimos.robot.manipulators.common.blueprints import eef_twist_task
+from dimos.robot.manipulators.common.blueprints import (
+    eef_twist_task,
+)
+from dimos.robot.manipulators.common.coordinators import (
+    ArmTwistCoordinator,
+)
 from dimos.robot.manipulators.openyam.config import (
     make_openyam_hardware,
     make_openyam_model_config,
@@ -31,7 +35,8 @@
 
 keyboard_teleop_openyam = autoconnect(
     KeyboardTeleopModule.blueprint(),
-    ControlCoordinator.blueprint(
+    ArmTwistCoordinator.blueprint(
+        instance_name="ControlCoordinator",
         hardware=[_openyam_keyboard_hw],
         tasks=[
             eef_twist_task(
diff --git a/dimos/robot/manipulators/piper/blueprints/teleop.py b/dimos/robot/manipulators/piper/blueprints/teleop.py
index 3a35e468d4..2a0ea613c3 100644
--- a/dimos/robot/manipulators/piper/blueprints/teleop.py
+++ b/dimos/robot/manipulators/piper/blueprints/teleop.py
@@ -17,7 +17,7 @@
 from __future__ import annotations
 
 from dimos.control.components import make_gripper_joints
-from dimos.control.coordinator import ControlCoordinator, TaskConfig
+from dimos.control.coordinator import TaskConfig
 from dimos.core.coordination.blueprints import autoconnect
 from dimos.core.global_config import global_config
 from dimos.manipulation.manipulation_module import ManipulationModule
@@ -27,6 +27,10 @@
     teleop_ik_task,
     trajectory_task,
 )
+from dimos.robot.manipulators.common.coordinators import (
+    ArmPoseCoordinator,
+    ArmTwistCoordinator,
+)
 from dimos.robot.manipulators.common.sim import mujoco_if_sim
 from dimos.robot.manipulators.piper.config import (
     PIPER_SIM_PATH,
@@ -48,7 +52,8 @@
 
 keyboard_teleop_piper = autoconnect(
     KeyboardTeleopModule.blueprint(),
-    ControlCoordinator.blueprint(
+    ArmTwistCoordinator.blueprint(
+        instance_name="ControlCoordinator",
         tick_rate=100.0,
         publish_joint_state=True,
         joint_state_frame_id="coordinator",
@@ -76,7 +81,8 @@
     gripper=False,
 )
 
-coordinator_cartesian_ik_mock = ControlCoordinator.blueprint(
+coordinator_cartesian_ik_mock = ArmPoseCoordinator.blueprint(
+    instance_name="ControlCoordinator",
     hardware=[_piper_mock_cartesian_hw],
     tasks=[cartesian_ik_task(_piper_mock_cartesian_hw, robot_model=_piper_model)],
 )
@@ -85,7 +91,8 @@
 
 
 coordinator_teleop_piper = autoconnect(
-    ControlCoordinator.blueprint(
+    ArmPoseCoordinator.blueprint(
+        instance_name="ControlCoordinator",
         hardware=[_piper_teleop_hw],
         tasks=[
             teleop_ik_task(
@@ -116,7 +123,8 @@
     gripper=True,
 )
 
-coordinator_cartesian_ik_piper = ControlCoordinator.blueprint(
+coordinator_cartesian_ik_piper = ArmPoseCoordinator.blueprint(
+    instance_name="ControlCoordinator",
     hardware=[_piper_cartesian_hw],
     tasks=[cartesian_ik_task(_piper_cartesian_hw, robot_model=_piper_model)],
 )
diff --git a/dimos/robot/manipulators/xarm/blueprints/teleop.py b/dimos/robot/manipulators/xarm/blueprints/teleop.py
index 7245269af4..30d0373a5c 100644
--- a/dimos/robot/manipulators/xarm/blueprints/teleop.py
+++ b/dimos/robot/manipulators/xarm/blueprints/teleop.py
@@ -28,6 +28,10 @@
     teleop_ik_task,
     trajectory_task,
 )
+from dimos.robot.manipulators.common.coordinators import (
+    ArmPoseTwistCoordinator,
+    ArmTwistCoordinator,
+)
 from dimos.robot.manipulators.common.sim import mujoco_if_sim
 from dimos.robot.manipulators.xarm.config import (
     XARM6_SIM_PATH,
@@ -49,7 +53,8 @@
 
 keyboard_teleop_xarm6 = autoconnect(
     KeyboardTeleopModule.blueprint(),
-    ControlCoordinator.blueprint(
+    ArmTwistCoordinator.blueprint(
+        instance_name="ControlCoordinator",
         tick_rate=100.0,
         publish_joint_state=True,
         joint_state_frame_id="coordinator",
@@ -71,7 +76,8 @@
 
 keyboard_teleop_xarm7 = autoconnect(
     KeyboardTeleopModule.blueprint(),
-    ControlCoordinator.blueprint(
+    ArmTwistCoordinator.blueprint(
+        instance_name="ControlCoordinator",
         tick_rate=100.0,
         publish_joint_state=True,
         joint_state_frame_id="coordinator",
@@ -165,7 +171,8 @@
 
 
 coordinator_teleop_xarm7 = autoconnect(
-    ControlCoordinator.blueprint(
+    ArmPoseTwistCoordinator.blueprint(
+        instance_name="ControlCoordinator",
         hardware=[_xarm7_teleop_hw],
         tasks=[
             teleop_ik_task(
@@ -194,7 +201,8 @@
 )
 
 coordinator_teleop_xarm6 = autoconnect(
-    ControlCoordinator.blueprint(
+    ArmPoseTwistCoordinator.blueprint(
+        instance_name="ControlCoordinator",
         hardware=[_xarm6_teleop_hw],
         tasks=[
             teleop_ik_task(
diff --git a/dimos/teleop/hosted/arm_command.py b/dimos/teleop/hosted/arm_command.py
index 166a2ecb34..a947fcd3e4 100644
--- a/dimos/teleop/hosted/arm_command.py
+++ b/dimos/teleop/hosted/arm_command.py
@@ -33,9 +33,9 @@
 from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.msgs.geometry_msgs.TwistStamped import TwistStamped
 from dimos.msgs.std_msgs.Bool import Bool
-from dimos.robot.manipulators.common.topics import EEF_TWIST_TASK_NAME
 from dimos.teleop.hosted.command_executor import SerializedCommandExecutor
-from dimos.teleop.quest.quest_extensions import ArmTeleopConfig, ArmTeleopModule
+from dimos.teleop.quest.quest_extensions import ArmTeleopModule
+from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig
 from dimos.teleop.quest.quest_types import Hand
 from dimos.teleop.utils.teleop_transforms import webxr_to_robot
 from dimos.utils.logging_config import setup_logger
@@ -43,7 +43,7 @@
 logger = setup_logger()
 
 
-class ArmCommandConfig(ArmTeleopConfig):
+class ArmCommandConfig(QuestTeleopConfig):
     cmd_stale_after_sec: float = 0.5
 
 
@@ -59,7 +59,7 @@ class ArmCommandModule(ArmTeleopModule):
     cmd_ack: Out[bytes]
     robot_state: Out[bytes]
 
-    coordinator_ee_twist_command: Out[TwistStamped]
+    ee_twist_command: Out[TwistStamped]
     gripper_command: Out[Bool]
 
     def __init__(self, **kwargs: Any) -> None:
@@ -166,9 +166,8 @@ def _on_twist_bytes(self, data: bytes) -> None:
         if ts <= self._last_twist_ts:  # out-of-order
             return
         self._last_twist_ts = ts
-        self.coordinator_ee_twist_command.publish(
+        self.ee_twist_command.publish(
             TwistStamped(
-                frame_id=EEF_TWIST_TASK_NAME,
                 linear=[msg.linear.x, msg.linear.y, msg.linear.z],
                 angular=[msg.angular.x, msg.angular.y, msg.angular.z],
                 ts=msg.ts,
diff --git a/dimos/teleop/hosted/blueprints/cloudflare.py b/dimos/teleop/hosted/blueprints/cloudflare.py
index 9b5febb880..4ca2626327 100644
--- a/dimos/teleop/hosted/blueprints/cloudflare.py
+++ b/dimos/teleop/hosted/blueprints/cloudflare.py
@@ -162,7 +162,7 @@ class WristCamera(RealSenseCamera):
 
 teleop_hosted_xarm6 = (
     autoconnect(
-        ArmCommandModule.blueprint(task_names={"right": "teleop_xarm"}),
+        ArmCommandModule.blueprint(),
         HostedStatsModule.blueprint(),
         CameraMuxModule.blueprint(cameras=["cam1", "cam2"]),
         coordinator_teleop_xarm6,
@@ -173,7 +173,7 @@ class WristCamera(RealSenseCamera):
         [
             (FrontCamera, "color_image", "cam1"),
             (WristCamera, "color_image", "cam2"),
-            (ArmCommandModule, "right_controller_output", "coordinator_cartesian_command"),
+            (ArmCommandModule, "right_controller_output", "cartesian_command"),
         ]
     )
     .transports(
@@ -194,7 +194,7 @@ class WristCamera(RealSenseCamera):
 
 teleop_hosted_xarm7 = (
     autoconnect(
-        ArmCommandModule.blueprint(task_names={"right": "teleop_xarm"}),
+        ArmCommandModule.blueprint(),
         HostedStatsModule.blueprint(),
         CameraMuxModule.blueprint(cameras=["cam1", "cam2"]),
         coordinator_teleop_xarm7,
@@ -205,7 +205,7 @@ class WristCamera(RealSenseCamera):
         [
             (FrontCamera, "color_image", "cam1"),
             (WristCamera, "color_image", "cam2"),
-            (ArmCommandModule, "right_controller_output", "coordinator_cartesian_command"),
+            (ArmCommandModule, "right_controller_output", "cartesian_command"),
         ]
     )
     .transports(
diff --git a/dimos/teleop/hosted/test_arm_command.py b/dimos/teleop/hosted/test_arm_command.py
index 8d0aabe865..553895de31 100644
--- a/dimos/teleop/hosted/test_arm_command.py
+++ b/dimos/teleop/hosted/test_arm_command.py
@@ -35,7 +35,6 @@
 from dimos.core.module import Module
 from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.msgs.geometry_msgs.TwistStamped import TwistStamped
-from dimos.robot.manipulators.common.topics import EEF_TWIST_TASK_NAME
 from dimos.teleop.hosted.arm_command import ArmCommandModule
 from dimos.teleop.quest.quest_types import Hand, QuestControllerState
 from dimos.utils.testing.waiting import wait_until
@@ -46,12 +45,10 @@ def module(monkeypatch: pytest.MonkeyPatch) -> Iterator[ArmCommandModule]:
     """A real ArmCommandModule with only the framework ``Module.__init__``
     skipped — the quest-layer and command-plane inits (engage state, decoder
     table, estop/twist gates) run for real. Ports / coordinator ref / config
-    are mocked; config is seeded by the patched init since the quest layer
-    reads ``config.task_names`` while constructing."""
+    are mocked; config is seeded by the patched init."""
 
     def _fake_init(self: Any, **kwargs: Any) -> None:
         self.config = SimpleNamespace(
-            task_names={"right": "teleop_xarm"},
             control_loop_hz=50.0,
             cmd_stale_after_sec=0.5,
         )
@@ -64,7 +61,7 @@ def _fake_init(self: Any, **kwargs: Any) -> None:
         "buttons",
         "cmd_ack",
         "robot_state",
-        "coordinator_ee_twist_command",
+        "ee_twist_command",
         "gripper_command",
         "coordinator",
     ):
@@ -157,38 +154,38 @@ def test_pose_watermark_is_per_hand(module: ArmCommandModule) -> None:
 # ─── Browser keyboard EE-twist → coordinator eef_twist ─────────────────
 
 
-def test_twist_routes_to_eef_twist_task(module: ArmCommandModule) -> None:
+def test_twist_republished_without_task_address(module: ArmCommandModule) -> None:
     module._on_cmd_raw(_twist_bytes(0.2))
-    module.coordinator_ee_twist_command.publish.assert_called_once()
-    out = module.coordinator_ee_twist_command.publish.call_args.args[0]
-    assert out.frame_id == EEF_TWIST_TASK_NAME
+    module.ee_twist_command.publish.assert_called_once()
+    out = module.ee_twist_command.publish.call_args.args[0]
+    assert out.frame_id == ""  # addressing is the port wiring, not the payload
     assert out.linear.x == pytest.approx(0.2)
 
 
 def test_twist_dropped_while_estopped(module: ArmCommandModule) -> None:
     module._estopped = True
     module._on_cmd_raw(_twist_bytes(0.2))
-    module.coordinator_ee_twist_command.publish.assert_not_called()
+    module.ee_twist_command.publish.assert_not_called()
 
 
 def test_stale_twist_dropped(module: ArmCommandModule) -> None:
     module._on_cmd_raw(_twist_bytes(0.2, ts=time.time() - 1.0))  # > cmd_stale_after_sec
-    module.coordinator_ee_twist_command.publish.assert_not_called()
+    module.ee_twist_command.publish.assert_not_called()
 
 
 def test_future_stamped_twist_dropped(module: ArmCommandModule) -> None:
     module._on_cmd_raw(_twist_bytes(0.2, ts=time.time() + 5.0))
-    module.coordinator_ee_twist_command.publish.assert_not_called()
+    module.ee_twist_command.publish.assert_not_called()
     # ...and it must not advance the ordering watermark (would stall real cmds).
     module._on_cmd_raw(_twist_bytes(0.3))
-    module.coordinator_ee_twist_command.publish.assert_called_once()
+    module.ee_twist_command.publish.assert_called_once()
 
 
 def test_out_of_order_twist_dropped(module: ArmCommandModule) -> None:
     t = time.time()
     module._on_cmd_raw(_twist_bytes(0.2, ts=t))
     module._on_cmd_raw(_twist_bytes(0.3, ts=t - 0.1))  # older than the last accepted
-    assert module.coordinator_ee_twist_command.publish.call_count == 1
+    assert module.ee_twist_command.publish.call_count == 1
 
 
 def test_stale_twist_warning_rate_limited(module: ArmCommandModule) -> None:
@@ -216,15 +213,15 @@ def test_gripper_dropped_while_estopped(module: ArmCommandModule) -> None:
     module.gripper_command.publish.assert_not_called()
 
 
-# ─── Engage → publish with task-name routing ───────────────────────────
+# ─── Engage → publish on the hand's own port ───────────────────────────
 
 
-def test_engage_publishes_task_routed_pose(module: ArmCommandModule) -> None:
+def test_engage_publishes_on_hand_port(module: ArmCommandModule) -> None:
     _engage_right(module)
     assert module._is_engaged[Hand.RIGHT]
     module.right_controller_output.publish.assert_called()
     out = module.right_controller_output.publish.call_args.args[0]
-    assert out.frame_id == "teleop_xarm"
+    assert out.frame_id == "right"  # handedness preserved; no task-name overwrite
     module.left_controller_output.publish.assert_not_called()
 
 
diff --git a/dimos/teleop/keyboard/keyboard_teleop_module.py b/dimos/teleop/keyboard/keyboard_teleop_module.py
index 80ad6e1471..3bde07808b 100644
--- a/dimos/teleop/keyboard/keyboard_teleop_module.py
+++ b/dimos/teleop/keyboard/keyboard_teleop_module.py
@@ -49,7 +49,6 @@
 from dimos.core.stream import Out
 from dimos.msgs.geometry_msgs.TwistStamped import TwistStamped
 from dimos.msgs.sensor_msgs.JointState import JointState
-from dimos.robot.manipulators.common.topics import EEF_TWIST_TASK_NAME
 from dimos.utils.logging_config import setup_logger
 
 logger = setup_logger()
@@ -70,7 +69,6 @@
 
 
 class KeyboardTeleopConfig(ModuleConfig):
-    task_name: str = EEF_TWIST_TASK_NAME
     linear_speed: float = DEFAULT_LINEAR_SPEED
     angular_speed: float = DEFAULT_ANGULAR_SPEED
     gripper_open_position: float = GRIPPER_OPEN_POSITION
@@ -112,7 +110,7 @@ class KeyboardTeleopModule(Module):
 
     config: KeyboardTeleopConfig
 
-    coordinator_ee_twist_command: Out[TwistStamped]
+    ee_twist_command: Out[TwistStamped]
     joint_command: Out[JointState]
 
     _stop_event: threading.Event
@@ -143,11 +141,9 @@ def stop(self) -> None:
         super().stop()
 
     def _pygame_loop(self) -> None:
-        task_name = self.config.task_name
-
         pygame.init()
         screen = pygame.display.set_mode((600, 400), pygame.SWSURFACE)
-        pygame.display.set_caption(f"Keyboard Teleop — {task_name}")
+        pygame.display.set_caption("Keyboard Teleop")
         font = pygame.font.Font(None, 28)
         clock = pygame.time.Clock()
         held_motion_keys: set[int] = set()
@@ -155,7 +151,7 @@ def _pygame_loop(self) -> None:
 
         while not self._stop_event.is_set():
             for event in pygame.event.get():
-                if self._handle_pygame_event(event, held_motion_keys, task_name):
+                if self._handle_pygame_event(event, held_motion_keys):
                     self._stop_event.set()
 
             linear, angular = _twist_from_keys(
@@ -168,18 +164,14 @@ def _pygame_loop(self) -> None:
 
             is_moving = any(value != 0.0 for value in (*linear, *angular))
             if is_moving or was_moving:
-                self._publish_twist(
-                    task_name,
-                    linear=linear,
-                    angular=angular,
-                )
+                self._publish_twist(linear=linear, angular=angular)
                 was_moving = is_moving
 
             # Draw UI
             screen.fill((30, 30, 30))
             y_pos = 20
 
-            title = font.render(f"Keyboard Teleop — {task_name}", True, (255, 255, 255))
+            title = font.render("Keyboard Teleop", True, (255, 255, 255))
             screen.blit(title, (20, y_pos))
             y_pos += 40
 
@@ -210,14 +202,13 @@ def _pygame_loop(self) -> None:
             pygame.display.flip()
             clock.tick(50)
 
-        self._publish_twist(task_name)
+        self._publish_twist()
         pygame.quit()
 
     def _handle_pygame_event(
         self,
         event: Any,
         held_motion_keys: set[int],
-        task_name: str,
     ) -> bool:
         """Apply one pygame event and synchronously stop motion on KEYUP."""
         if pygame is None:
@@ -241,19 +232,16 @@ def _handle_pygame_event(
                 linear_speed=self.config.linear_speed,
                 angular_speed=self.config.angular_speed,
             )
-            self._publish_twist(task_name, linear=linear, angular=angular)
+            self._publish_twist(linear=linear, angular=angular)
         return False
 
     def _publish_twist(
         self,
-        task_name: str,
         *,
         linear: TwistVector = (0.0, 0.0, 0.0),
         angular: TwistVector = (0.0, 0.0, 0.0),
     ) -> None:
-        self.coordinator_ee_twist_command.publish(
-            TwistStamped(frame_id=task_name, linear=list(linear), angular=list(angular))
-        )
+        self.ee_twist_command.publish(TwistStamped(linear=list(linear), angular=list(angular)))
 
     def _set_gripper_position(self, position: float) -> None:
         """Latch and publish a changed gripper endpoint command."""
diff --git a/dimos/teleop/keyboard/test_keyboard_teleop_module.py b/dimos/teleop/keyboard/test_keyboard_teleop_module.py
index 4c59f906a2..833a0582b6 100644
--- a/dimos/teleop/keyboard/test_keyboard_teleop_module.py
+++ b/dimos/teleop/keyboard/test_keyboard_teleop_module.py
@@ -19,7 +19,6 @@
 import pytest
 
 from dimos.msgs.geometry_msgs.TwistStamped import TwistStamped
-from dimos.robot.manipulators.common.topics import EEF_TWIST_TASK_NAME
 import dimos.teleop.keyboard.keyboard_teleop_module as keyboard_mod
 from dimos.teleop.keyboard.keyboard_teleop_module import (
     GRIPPER_CLOSED_POSITION,
@@ -46,25 +45,26 @@ def module() -> Iterator[KeyboardTeleopModule]:
         module.stop()
 
 
-def test_publish_twist_emits_routed_twist_stamped(module: KeyboardTeleopModule, mocker) -> None:
-    publish = mocker.patch.object(module.coordinator_ee_twist_command, "publish")
+def test_publish_twist_emits_unaddressed_twist_stamped(
+    module: KeyboardTeleopModule, mocker
+) -> None:
+    publish = mocker.patch.object(module.ee_twist_command, "publish")
 
-    module._publish_twist("custom_eef", linear=(0.1, 0.2, 0.3), angular=(0.4, 0.5, 0.6))
+    module._publish_twist(linear=(0.1, 0.2, 0.3), angular=(0.4, 0.5, 0.6))
 
     msg = publish.call_args.args[0]
     assert isinstance(msg, TwistStamped)
-    assert msg.frame_id == "custom_eef"
+    assert msg.frame_id == ""  # no task-name address in the payload
     assert [msg.linear.x, msg.linear.y, msg.linear.z] == [0.1, 0.2, 0.3]
     assert [msg.angular.x, msg.angular.y, msg.angular.z] == [0.4, 0.5, 0.6]
 
 
 def test_publish_twist_defaults_to_zero_twist(module: KeyboardTeleopModule, mocker) -> None:
-    publish = mocker.patch.object(module.coordinator_ee_twist_command, "publish")
+    publish = mocker.patch.object(module.ee_twist_command, "publish")
 
-    module._publish_twist(EEF_TWIST_TASK_NAME)
+    module._publish_twist()
 
     msg = publish.call_args.args[0]
-    assert msg.frame_id == EEF_TWIST_TASK_NAME
     assert [msg.linear.x, msg.linear.y, msg.linear.z] == [0.0, 0.0, 0.0]
     assert [msg.angular.x, msg.angular.y, msg.angular.z] == [0.0, 0.0, 0.0]
 
@@ -92,11 +92,11 @@ def test_twist_from_keys_maps_rotation_keys_to_eef_angular_twist() -> None:
 
 
 def test_final_key_release_publishes_zero_velocity(module: KeyboardTeleopModule, mocker) -> None:
-    publish = mocker.patch.object(module.coordinator_ee_twist_command, "publish")
+    publish = mocker.patch.object(module.ee_twist_command, "publish")
     held = {keyboard_mod.pygame.K_w}
     event = keyboard_mod.pygame.event.Event(keyboard_mod.pygame.KEYUP, key=keyboard_mod.pygame.K_w)
 
-    assert not module._handle_pygame_event(event, held, EEF_TWIST_TASK_NAME)
+    assert not module._handle_pygame_event(event, held)
 
     assert held == set()
     assert publish.call_count == 1
@@ -106,11 +106,11 @@ def test_final_key_release_publishes_zero_velocity(module: KeyboardTeleopModule,
 
 
 def test_keyup_preserves_remaining_motion_key(module: KeyboardTeleopModule, mocker) -> None:
-    publish = mocker.patch.object(module.coordinator_ee_twist_command, "publish")
+    publish = mocker.patch.object(module.ee_twist_command, "publish")
     held = {keyboard_mod.pygame.K_w, keyboard_mod.pygame.K_a}
     event = keyboard_mod.pygame.event.Event(keyboard_mod.pygame.KEYUP, key=keyboard_mod.pygame.K_w)
 
-    module._handle_pygame_event(event, held, EEF_TWIST_TASK_NAME)
+    module._handle_pygame_event(event, held)
 
     assert held == {keyboard_mod.pygame.K_a}
     assert publish.call_count == 1
@@ -121,11 +121,11 @@ def test_keyup_preserves_remaining_motion_key(module: KeyboardTeleopModule, mock
 def test_keyup_publishes_directly_without_timeout_wait(
     module: KeyboardTeleopModule, mocker
 ) -> None:
-    publish = mocker.patch.object(module.coordinator_ee_twist_command, "publish")
+    publish = mocker.patch.object(module.ee_twist_command, "publish")
     held = {keyboard_mod.pygame.K_w}
     event = keyboard_mod.pygame.event.Event(keyboard_mod.pygame.KEYUP, key=keyboard_mod.pygame.K_w)
 
-    module._handle_pygame_event(event, held, EEF_TWIST_TASK_NAME)
+    module._handle_pygame_event(event, held)
 
     publish.assert_called_once()
 
diff --git a/dimos/teleop/quest/blueprints.py b/dimos/teleop/quest/blueprints.py
index 904c3680b4..b6e1966048 100644
--- a/dimos/teleop/quest/blueprints.py
+++ b/dimos/teleop/quest/blueprints.py
@@ -55,27 +55,25 @@
 
 # XArm7 teleop (sim with --simulation, real otherwise): right controller -> xarm7
 teleop_quest_xarm7 = autoconnect(
-    ArmTeleopModule.blueprint(task_names={"right": "teleop_xarm"}),
+    ArmTeleopModule.blueprint(),
     coordinator_teleop_xarm7,
-).remappings([(ArmTeleopModule, "right_controller_output", "coordinator_cartesian_command")])
+).remappings([(ArmTeleopModule, "right_controller_output", "cartesian_command")])
 
 
 # XArm7 hand teleop: thumb-and-index pinch toggles tracking for each hand.
 teleop_quest_hand_xarm7 = autoconnect(
-    HandTeleopModule.blueprint(task_names={"right": "teleop_xarm"}),
+    HandTeleopModule.blueprint(),
     coordinator_teleop_xarm7,
-).remappings([(HandTeleopModule, "right_controller_output", "coordinator_cartesian_command")])
+).remappings([(HandTeleopModule, "right_controller_output", "cartesian_command")])
 
 
 # XArm7 teleop + camera streaming into the Quest scene as a panel.
 teleop_quest_xarm7_video = (
     autoconnect(
-        VideoArmTeleopModule.blueprint(task_names={"right": "teleop_xarm"}),
+        VideoArmTeleopModule.blueprint(),
         coordinator_teleop_xarm7,
     )
-    .remappings(
-        [(VideoArmTeleopModule, "right_controller_output", "coordinator_cartesian_command")]
-    )
+    .remappings([(VideoArmTeleopModule, "right_controller_output", "cartesian_command")])
     .transports(
         {
             ("color_image", Image): LCMTransport("/teleop/color_image", Image),
@@ -86,33 +84,33 @@
 
 # Piper teleop (sim with --simulation, real otherwise): left controller -> piper arm
 teleop_quest_piper = autoconnect(
-    ArmTeleopModule.blueprint(task_names={"left": "teleop_piper"}),
+    ArmTeleopModule.blueprint(),
     coordinator_teleop_piper,
-).remappings([(ArmTeleopModule, "left_controller_output", "coordinator_cartesian_command")])
+).remappings([(ArmTeleopModule, "left_controller_output", "cartesian_command")])
 
 
 # A1Z mock teleop: left controller -> A1Z arm
 teleop_quest_a1z = autoconnect(
-    ArmTeleopModule.blueprint(task_names={"left": "teleop_a1z"}),
+    ArmTeleopModule.blueprint(),
     coordinator_teleop_a1z,
-).remappings([(ArmTeleopModule, "left_controller_output", "coordinator_cartesian_command")])
+).remappings([(ArmTeleopModule, "left_controller_output", "cartesian_command")])
 
 
 # XArm6 teleop (sim with --simulation, real otherwise): right controller -> xarm6
 teleop_quest_xarm6 = autoconnect(
-    ArmTeleopModule.blueprint(task_names={"right": "teleop_xarm"}),
+    ArmTeleopModule.blueprint(),
     coordinator_teleop_xarm6,
-).remappings([(ArmTeleopModule, "right_controller_output", "coordinator_cartesian_command")])
+).remappings([(ArmTeleopModule, "right_controller_output", "cartesian_command")])
 
 
 # Dual arm teleop: right -> piper, left -> xarm6 (TeleopIK, real-only)
 teleop_quest_dual = autoconnect(
-    ArmTeleopModule.blueprint(task_names={"right": "teleop_piper", "left": "teleop_xarm"}),
+    ArmTeleopModule.blueprint(),
     coordinator_teleop_dual,
 ).remappings(
     [
-        (ArmTeleopModule, "right_controller_output", "coordinator_cartesian_command"),
-        (ArmTeleopModule, "left_controller_output", "coordinator_cartesian_command"),
+        (ArmTeleopModule, "right_controller_output", "right_cartesian"),
+        (ArmTeleopModule, "left_controller_output", "left_cartesian"),
     ]
 )
 
diff --git a/dimos/teleop/quest/quest_extensions.py b/dimos/teleop/quest/quest_extensions.py
index 2af66b1693..1922a42236 100644
--- a/dimos/teleop/quest/quest_extensions.py
+++ b/dimos/teleop/quest/quest_extensions.py
@@ -15,7 +15,7 @@
 """Quest teleop module extensions and subclasses.
 
 Available subclasses:
-    - ArmTeleopModule: Per-hand press-and-hold engage (X/A hold to track), task name routing
+    - ArmTeleopModule: Per-hand press-and-hold engage (X/A hold to track)
     - HandTeleopModule: Pinch-to-toggle arm teleop using WebXR hand tracking
     - TwistTeleopModule: Outputs Twist instead of PoseStamped
     - VideoArmTeleopModule: ArmTeleopModule + JPEG frames pushed to the Quest over /ws
@@ -26,7 +26,6 @@
 from typing import Any
 
 from fastapi import WebSocket
-from pydantic import Field
 
 from dimos.core.core import rpc
 from dimos.core.stream import In, Out
@@ -125,27 +124,13 @@ def _publish_msg(self, hand: Hand, output_msg: PoseStamped) -> None:
             self.right_twist.publish(twist)
 
 
-class ArmTeleopConfig(QuestTeleopConfig):
-    """Configuration for ArmTeleopModule.
-
-    Attributes:
-        task_names: Mapping of Hand -> coordinator task name. Used to set
-            frame_id on output PoseStamped so the coordinator routes each
-            hand's commands to the correct TeleopIKTask.
-    """
-
-    task_names: dict[str, str] = Field(default_factory=dict)
-
-
 class ArmTeleopModule(QuestTeleopModule):
-    """Quest teleop with per-hand press-and-hold engage and task name routing.
+    """Quest teleop with per-hand press-and-hold engage.
 
     Each controller's primary button (X for left, A for right)
-    engages that hand while held, disengages on release.
-
-    When task_names is configured, output PoseStamped messages have their
-    frame_id set to the task name, enabling the coordinator to route
-    each hand's commands to the correct TeleopIKTask.
+    engages that hand while held, disengages on release. Each hand's
+    output port is wired to its consuming task's coordinator port in
+    the blueprint; no addressing happens in the message.
 
     Outputs:
         - left_controller_output: PoseStamped (inherited)
@@ -153,8 +138,6 @@ class ArmTeleopModule(QuestTeleopModule):
         - buttons: Buttons (inherited)
     """
 
-    config: ArmTeleopConfig
-
     @rpc
     def start(self) -> None:
         super().start()
@@ -163,25 +146,6 @@ def start(self) -> None:
     def stop(self) -> None:
         super().stop()
 
-    def __init__(self, **kwargs: Any) -> None:
-        super().__init__(**kwargs)
-
-        self._task_names: dict[Hand, str] = {
-            Hand[k.upper()]: v for k, v in self.config.task_names.items()
-        }
-
-    def _publish_msg(self, hand: Hand, output_msg: PoseStamped) -> None:
-        """Stamp frame_id with task name and publish."""
-        task_name = self._task_names.get(hand)
-        if task_name:
-            output_msg = PoseStamped(
-                position=output_msg.position,
-                orientation=output_msg.orientation,
-                ts=output_msg.ts,
-                frame_id=task_name,
-            )
-        super()._publish_msg(hand, output_msg)
-
     def _publish_button_state(
         self,
         left: QuestControllerState | None,
@@ -236,7 +200,7 @@ def _publish_button_state(
         self.teleop_buttons.publish(buttons)
 
 
-class VideoArmTeleopConfig(ArmTeleopConfig):
+class VideoArmTeleopConfig(QuestTeleopConfig):
     """Configuration for VideoArmTeleopModule."""
 
     video_jpeg_quality: int = 70