diff --git a/packages/dashboard-e2e/README.md b/packages/dashboard-e2e/README.md
index ae9ed894a..598362965 100644
--- a/packages/dashboard-e2e/README.md
+++ b/packages/dashboard-e2e/README.md
@@ -52,13 +52,13 @@ browser.overwriteCommand(
 ```
 
 ```ts
-// this will fail depending on the context on which `getLoopOption` is called.
-const getLoopOption = async () => {
-  return $$('[role=option]').find(async (elem) => await elem.getText() === 'Loop');
+// this will fail depending on the context on which `getPatrolOption` is called.
+const getPatrolOption = async () => {
+  return $$('[role=option]').find(async (elem) => await elem.getText() === 'Patrol');
 };
 
-await browser.waitUntil(async () => !!(await getLoopOption)); // ok
-await console.log(await getLoopOption()); // error
+await browser.waitUntil(async () => !!(await getPatrolOption)); // ok
+await console.log(await getPatrolOption()); // error
 ```
 
-Possible reason is because async selectors chaining relies on a "finalizer" or some kind of context to resolve the promises. As a result, when running `getLoopOption` without a wdio await, the chaining does not work. But this is all speculation, the inner workings of async selector chainings are very complex.
+Possible reason is because async selectors chaining relies on a "finalizer" or some kind of context to resolve the promises. As a result, when running `getPatrolOption` without a wdio await, the chaining does not work. But this is all speculation, the inner workings of async selector chainings are very complex.
diff --git a/packages/dashboard-e2e/tests/ui-interactions/submit-task.test.ts b/packages/dashboard-e2e/tests/ui-interactions/submit-task.test.ts
index b9448604e..7c7531244 100644
--- a/packages/dashboard-e2e/tests/ui-interactions/submit-task.test.ts
+++ b/packages/dashboard-e2e/tests/ui-interactions/submit-task.test.ts
@@ -1,24 +1,24 @@
 import { getAppBar } from '../utils';
 
 describe('submit task', () => {
-  it('can submit loop task', async () => {
+  it('can submit patrol task', async () => {
     const appBar = await getAppBar();
     await (await appBar.$('button[aria-label="Tasks"]')).click();
     await (await appBar.$('button[aria-label="new task"]')).click();
     await (await $('#task-type')).click();
-    const getLoopOption = async () => {
+    const getPatrolOption = async () => {
       const options = await $$('[role=option]');
       for (const opt of options) {
         const text = await opt.getText();
-        if (text === 'Loop') {
+        if (text === 'Patrol') {
           return opt;
         }
       }
       return null;
     };
-    await browser.waitUntil(async () => !!(await getLoopOption()));
-    const loopOption = (await getLoopOption())!;
-    await loopOption.click();
+    await browser.waitUntil(async () => !!(await getPatrolOption()));
+    const patrolOption = (await getPatrolOption())!;
+    await patrolOption.click();
 
     await (await $('#place-input')).setValue('coe');
 
diff --git a/packages/dashboard/src/components/appbar.tsx b/packages/dashboard/src/components/appbar.tsx
index ac9000603..ba95a5856 100644
--- a/packages/dashboard/src/components/appbar.tsx
+++ b/packages/dashboard/src/components/appbar.tsx
@@ -35,7 +35,7 @@ import {
   AppBarTab,
   CreateTaskForm,
   CreateTaskFormProps,
-  getPlaces,
+  getNamedPlaces,
   HeaderBar,
   LogoButton,
   NavigationBar,
@@ -167,8 +167,10 @@ export const AppBar = React.memo(({ extraToolbarItems }: AppBarProps): React.Rea
   const [brandingIconPath, setBrandingIconPath] = React.useState<string>('');
   const [settingsAnchor, setSettingsAnchor] = React.useState<HTMLElement | null>(null);
   const [openCreateTaskForm, setOpenCreateTaskForm] = React.useState(false);
-  const [placeNames, setPlaceNames] = React.useState<string[]>([]);
-  const [workcells, setWorkcells] = React.useState<string[]>();
+  const [waypointNames, setWaypointNames] = React.useState<string[]>([]);
+  const [cleaningZoneNames, setCleaningZoneNames] = React.useState<string[]>([]);
+  const [pickupPointNames, setPickupPointNames] = React.useState<string[]>([]);
+  const [dropoffPointNames, setDropoffPointNames] = React.useState<string[]>([]);
   const [favoritesTasks, setFavoritesTasks] = React.useState<TaskFavorite[]>([]);
   const [refreshTaskAppCount, setRefreshTaskAppCount] = React.useState(0);
   const [username, setUsername] = React.useState<string | null>(null);
@@ -214,13 +216,6 @@ export const AppBar = React.memo(({ extraToolbarItems }: AppBarProps): React.Rea
     })();
   }, [logoResourcesContext, safeAsync, curTheme]);
 
-  React.useEffect(() => {
-    if (!resourceManager?.dispensers) {
-      return;
-    }
-    setWorkcells(Object.keys(resourceManager.dispensers.dispensers));
-  }, [resourceManager]);
-
   React.useEffect(() => {
     if (!rmf) {
       return;
@@ -228,9 +223,13 @@ export const AppBar = React.memo(({ extraToolbarItems }: AppBarProps): React.Rea
 
     const subs: Subscription[] = [];
     subs.push(
-      rmf.buildingMapObs.subscribe((map) =>
-        setPlaceNames(getPlaces(map).map((p) => p.vertex.name)),
-      ),
+      rmf.buildingMapObs.subscribe((map) => {
+        const namedPlaces = getNamedPlaces(map);
+        setPickupPointNames(namedPlaces.pickupPoints.map((w) => w.vertex.name));
+        setDropoffPointNames(namedPlaces.dropoffPoints.map((w) => w.vertex.name));
+        setCleaningZoneNames(namedPlaces.cleaningZones.map((w) => w.vertex.name));
+        setWaypointNames(namedPlaces.places.map((w) => w.vertex.name));
+      }),
     );
     subs.push(
       AppEvents.refreshAlertCount.subscribe((_) => {
@@ -578,11 +577,10 @@ export const AppBar = React.memo(({ extraToolbarItems }: AppBarProps): React.Rea
       {openCreateTaskForm && (
         <CreateTaskForm
           user={username ? username : 'unknown user'}
-          cleaningZones={placeNames}
-          loopWaypoints={placeNames}
-          deliveryWaypoints={placeNames}
-          dispensers={workcells}
-          ingestors={workcells}
+          cleaningZones={cleaningZoneNames}
+          patrolWaypoints={waypointNames}
+          pickupPoints={pickupPointNames}
+          dropoffPoints={dropoffPointNames}
           favoritesTasks={favoritesTasks}
           open={openCreateTaskForm}
           onClose={() => setOpenCreateTaskForm(false)}
diff --git a/packages/react-components/lib/place.ts b/packages/react-components/lib/place.ts
index 55acfdad6..6afaba637 100644
--- a/packages/react-components/lib/place.ts
+++ b/packages/react-components/lib/place.ts
@@ -1,10 +1,21 @@
 import type { BuildingMap, GraphNode } from 'api-client';
 
+const DEFAULT_PICKUP_POINT_PARAM_NAME = 'pickup_dispenser';
+const DEFAULT_DROPOFF_POINT_PARAM_NAME = 'dropoff_ingestor';
+const DEFAULT_CLEANING_ZONE_PARAM_NAME = 'is_cleaning_zone';
+
 export interface Place {
   level: string;
   vertex: GraphNode;
 }
 
+export interface NamedPlaces {
+  places: Place[];
+  pickupPoints: Place[];
+  dropoffPoints: Place[];
+  cleaningZones: Place[];
+}
+
 export function getPlaces(buildingMap: BuildingMap): Place[] {
   const places: Place[] = [];
   for (const level of buildingMap.levels) {
@@ -18,3 +29,39 @@ export function getPlaces(buildingMap: BuildingMap): Place[] {
   }
   return places;
 }
+
+export function getNamedPlaces(buildingMap: BuildingMap): NamedPlaces {
+  const places = new Map<string, Place>();
+  const pickupPoints = new Map<string, Place>();
+  const dropoffPoints = new Map<string, Place>();
+  const cleaningZones = new Map<string, Place>();
+
+  for (const level of buildingMap.levels) {
+    for (const graphs of level.nav_graphs) {
+      for (const vertex of graphs.vertices) {
+        if (!vertex.name) {
+          continue;
+        }
+        const place: Place = { level: level.name, vertex };
+        for (const p of vertex.params) {
+          if (p.name === DEFAULT_PICKUP_POINT_PARAM_NAME) {
+            pickupPoints.set(vertex.name, place);
+          }
+          if (p.name === DEFAULT_DROPOFF_POINT_PARAM_NAME) {
+            dropoffPoints.set(vertex.name, place);
+          }
+          if (p.name === DEFAULT_CLEANING_ZONE_PARAM_NAME) {
+            cleaningZones.set(vertex.name, place);
+          }
+        }
+        places.set(vertex.name, place);
+      }
+    }
+  }
+  return {
+    places: Array.from(places.values()),
+    pickupPoints: Array.from(pickupPoints.values()),
+    dropoffPoints: Array.from(dropoffPoints.values()),
+    cleaningZones: Array.from(cleaningZones.values()),
+  };
+}
diff --git a/packages/react-components/lib/tasks/create-task.stories.tsx b/packages/react-components/lib/tasks/create-task.stories.tsx
index 08e98daa0..7b39ce6de 100644
--- a/packages/react-components/lib/tasks/create-task.stories.tsx
+++ b/packages/react-components/lib/tasks/create-task.stories.tsx
@@ -24,8 +24,7 @@ export const CreateTask: Story<CreateTaskFormProps> = (args) => {
 CreateTask.args = {
   submitTasks: async () => new Promise((res) => setTimeout(res, 500)),
   cleaningZones: ['test_zone_0', 'test_zone_1'],
-  loopWaypoints: ['test_waypoint_0', 'test_waypoint_1'],
-  deliveryWaypoints: ['test_waypoint_0', 'test_waypoint_1'],
-  dispensers: ['test_dispenser_0', 'test_dispenser_1'],
-  ingestors: ['test_ingestor_0', 'test_ingestor_1'],
+  patrolWaypoints: ['test_waypoint_0', 'test_waypoint_1'],
+  pickupPoints: ['test_waypoint_0'],
+  dropoffPoints: ['test_waypoint_1'],
 };
diff --git a/packages/react-components/lib/tasks/create-task.tsx b/packages/react-components/lib/tasks/create-task.tsx
index 38382c1e0..271f8059a 100644
--- a/packages/react-components/lib/tasks/create-task.tsx
+++ b/packages/react-components/lib/tasks/create-task.tsx
@@ -45,7 +45,6 @@ import { PositiveIntField } from '../form-inputs';
 interface DeliveryTaskDescription {
   pickup: {
     place: string;
-    handler: string;
     payload: {
       sku: string;
       quantity: number;
@@ -53,7 +52,6 @@ interface DeliveryTaskDescription {
   };
   dropoff: {
     place: string;
-    handler: string;
     payload: {
       sku: string;
       quantity: number;
@@ -61,7 +59,7 @@ interface DeliveryTaskDescription {
   };
 }
 
-interface LoopTaskDescription {
+interface PatrolTaskDescription {
   places: string[];
   rounds: number;
 }
@@ -70,7 +68,7 @@ interface CleanTaskDescription {
   zone: string;
 }
 
-type TaskDescription = DeliveryTaskDescription | LoopTaskDescription | CleanTaskDescription;
+type TaskDescription = DeliveryTaskDescription | PatrolTaskDescription | CleanTaskDescription;
 
 const classes = {
   title: 'dialogue-info-value',
@@ -136,29 +134,27 @@ function FormToolbar({ onSelectFileClick }: FormToolbarProps) {
 
 interface DeliveryTaskFormProps {
   taskDesc: DeliveryTaskDescription;
-  deliveryWaypoints: string[];
-  dispensers: string[];
-  ingestors: string[];
+  pickupPoints: string[];
+  dropoffPoints: string[];
   onChange(taskDesc: TaskDescription): void;
 }
 
 function DeliveryTaskForm({
   taskDesc,
-  deliveryWaypoints,
-  dispensers,
-  ingestors,
+  pickupPoints,
+  dropoffPoints,
   onChange,
 }: DeliveryTaskFormProps) {
   const theme = useTheme();
 
   return (
     <Grid container spacing={theme.spacing(2)} justifyContent="center" alignItems="center">
-      <Grid item xs={8}>
+      <Grid item xs={6}>
         <Autocomplete
           id="pickup-location"
           freeSolo
           fullWidth
-          options={deliveryWaypoints}
+          options={pickupPoints}
           value={taskDesc.pickup.place}
           onChange={(_ev, newValue) =>
             newValue !== null &&
@@ -184,18 +180,21 @@ function DeliveryTaskForm({
       </Grid>
       <Grid item xs={4}>
         <Autocomplete
-          id="dispenser"
+          id="pickup_sku"
           freeSolo
           fullWidth
-          options={dispensers}
-          value={taskDesc.pickup.handler}
+          value={taskDesc.pickup.payload.sku}
+          options={[]}
           onChange={(_ev, newValue) =>
             newValue !== null &&
             onChange({
               ...taskDesc,
               pickup: {
                 ...taskDesc.pickup,
-                handler: newValue,
+                payload: {
+                  ...taskDesc.pickup.payload,
+                  sku: newValue,
+                },
               },
             })
           }
@@ -203,78 +202,23 @@ function DeliveryTaskForm({
             onChange({
               ...taskDesc,
               pickup: {
-                ...taskDesc.pickup,
-                handler: (ev.target as HTMLInputElement).value,
-              },
-            })
-          }
-          renderInput={(params) => <TextField {...params} label="Dispenser" />}
-        />
-      </Grid>
-      <Grid item xs={8}>
-        <Autocomplete
-          id="dropoff-location"
-          freeSolo
-          fullWidth
-          options={deliveryWaypoints}
-          value={taskDesc.dropoff.place}
-          onChange={(_ev, newValue) =>
-            newValue !== null &&
-            onChange({
-              ...taskDesc,
-              dropoff: {
-                ...taskDesc.dropoff,
-                place: newValue,
-              },
-            })
-          }
-          onBlur={(ev) =>
-            onChange({
-              ...taskDesc,
-              dropoff: {
-                ...taskDesc.dropoff,
-                place: (ev.target as HTMLInputElement).value,
-              },
-            })
-          }
-          renderInput={(params) => <TextField {...params} label="Dropoff Location" />}
-        />
-      </Grid>
-      <Grid item xs={4}>
-        <Autocomplete
-          id="ingestor"
-          freeSolo
-          fullWidth
-          options={ingestors}
-          value={taskDesc.dropoff.handler}
-          onChange={(_ev, newValue) =>
-            newValue !== null &&
-            onChange({
-              ...taskDesc,
-              dropoff: {
                 ...taskDesc.dropoff,
-                handler: newValue,
-              },
-            })
-          }
-          onBlur={(ev) =>
-            onChange({
-              ...taskDesc,
-              dropoff: {
-                ...taskDesc.dropoff,
-                handler: (ev.target as HTMLInputElement).value,
+                payload: {
+                  ...taskDesc.pickup.payload,
+                  sku: (ev.target as HTMLInputElement).value,
+                },
               },
             })
           }
-          renderInput={(params) => <TextField {...params} label="Ingestor" />}
+          renderInput={(params) => <TextField {...params} label="Pickup SKU" />}
         />
       </Grid>
-      <Grid item xs={4}>
+      <Grid item xs={2}>
         <Autocomplete
-          id="pickup_sku"
+          id="pickup_quantity"
           freeSolo
           fullWidth
-          value={taskDesc.pickup.payload.sku}
+          value={`${taskDesc.pickup.payload.quantity}`}
           options={[]}
           onChange={(_ev, newValue) =>
             newValue !== null &&
@@ -284,7 +228,7 @@ function DeliveryTaskForm({
                 ...taskDesc.pickup,
                 payload: {
                   ...taskDesc.pickup.payload,
-                  sku: newValue,
+                  quantity: typeof newValue == 'string' ? parseInt(newValue) : newValue,
                 },
               },
             })
@@ -293,50 +237,44 @@ function DeliveryTaskForm({
             onChange({
               ...taskDesc,
               pickup: {
-                ...taskDesc.dropoff,
+                ...taskDesc.pickup,
                 payload: {
                   ...taskDesc.pickup.payload,
-                  sku: (ev.target as HTMLInputElement).value,
+                  quantity: parseInt((ev.target as HTMLInputElement).value),
                 },
               },
             })
           }
-          renderInput={(params) => <TextField {...params} label="Pickup SKU" />}
+          renderInput={(params) => <TextField {...params} label="Quantity" />}
         />
       </Grid>
-      <Grid item xs={2}>
+      <Grid item xs={6}>
         <Autocomplete
-          id="pickup_quantity"
+          id="dropoff-location"
           freeSolo
           fullWidth
-          value={taskDesc.pickup.payload.quantity}
-          options={[]}
+          options={dropoffPoints}
+          value={taskDesc.dropoff.place}
           onChange={(_ev, newValue) =>
             newValue !== null &&
             onChange({
               ...taskDesc,
-              pickup: {
-                ...taskDesc.pickup,
-                payload: {
-                  ...taskDesc.pickup.payload,
-                  quantity: typeof newValue == 'string' ? parseInt(newValue) : newValue,
-                },
+              dropoff: {
+                ...taskDesc.dropoff,
+                place: newValue,
               },
             })
           }
           onBlur={(ev) =>
             onChange({
               ...taskDesc,
-              pickup: {
-                ...taskDesc.pickup,
-                payload: {
-                  ...taskDesc.pickup.payload,
-                  quantity: parseInt((ev.target as HTMLInputElement).value),
-                },
+              dropoff: {
+                ...taskDesc.dropoff,
+                place: (ev.target as HTMLInputElement).value,
               },
             })
           }
-          renderInput={(params) => <TextField {...params} label="Pickup Quantity" />}
+          renderInput={(params) => <TextField {...params} label="Dropoff Location" />}
         />
       </Grid>
       <Grid item xs={4}>
@@ -379,7 +317,7 @@ function DeliveryTaskForm({
           id="dropoff_quantity"
           freeSolo
           fullWidth
-          value={taskDesc.dropoff.payload.quantity}
+          value={`${taskDesc.dropoff.payload.quantity}`}
           options={[]}
           onChange={(_ev, newValue) =>
             newValue !== null &&
@@ -406,7 +344,7 @@ function DeliveryTaskForm({
               },
             })
           }
-          renderInput={(params) => <TextField {...params} label="Dropoff Quantity" />}
+          renderInput={(params) => <TextField {...params} label="Quantity" />}
         />
       </Grid>
     </Grid>
@@ -448,15 +386,14 @@ function PlaceList({ places, onClick }: PlaceListProps) {
   );
 }
 
-interface LoopTaskFormProps {
-  taskDesc: LoopTaskDescription;
-  loopWaypoints: string[];
-  onChange(loopTaskDescription: LoopTaskDescription): void;
+interface PatrolTaskFormProps {
+  taskDesc: PatrolTaskDescription;
+  patrolWaypoints: string[];
+  onChange(patrolTaskDescription: PatrolTaskDescription): void;
 }
 
-function LoopTaskForm({ taskDesc, loopWaypoints, onChange }: LoopTaskFormProps) {
+function PatrolTaskForm({ taskDesc, patrolWaypoints, onChange }: PatrolTaskFormProps) {
   const theme = useTheme();
-
   return (
     <Grid container spacing={theme.spacing(2)} justifyContent="center" alignItems="center">
       <Grid item xs={10}>
@@ -464,7 +401,7 @@ function LoopTaskForm({ taskDesc, loopWaypoints, onChange }: LoopTaskFormProps)
           id="place-input"
           freeSolo
           fullWidth
-          options={loopWaypoints}
+          options={patrolWaypoints}
           onChange={(_ev, newValue) =>
             newValue !== null &&
             onChange({
@@ -600,7 +537,7 @@ function defaultCleanTask(): CleanTaskDescription {
   };
 }
 
-function defaultLoopTask(): LoopTaskDescription {
+function defaultPatrolTask(): PatrolTaskDescription {
   return {
     places: [],
     rounds: 1,
@@ -611,7 +548,6 @@ function defaultDeliveryTask(): DeliveryTaskDescription {
   return {
     pickup: {
       place: '',
-      handler: '',
       payload: {
         sku: '',
         quantity: 1,
@@ -619,7 +555,6 @@ function defaultDeliveryTask(): DeliveryTaskDescription {
     },
     dropoff: {
       place: '',
-      handler: '',
       payload: {
         sku: '',
         quantity: 1,
@@ -633,7 +568,7 @@ function defaultTaskDescription(taskCategory: string): TaskDescription | undefin
     case 'clean':
       return defaultCleanTask();
     case 'patrol':
-      return defaultLoopTask();
+      return defaultPatrolTask();
     case 'delivery':
       return defaultDeliveryTask();
     default:
@@ -644,7 +579,7 @@ function defaultTaskDescription(taskCategory: string): TaskDescription | undefin
 function defaultTask(): TaskRequest {
   return {
     category: 'patrol',
-    description: defaultLoopTask(),
+    description: defaultPatrolTask(),
     unix_millis_earliest_start_time: 0,
     unix_millis_request_time: Date.now(),
     priority: { type: 'binary', value: 0 },
@@ -714,7 +649,7 @@ const defaultFavoriteTask = (): TaskFavorite => {
     id: '',
     name: '',
     category: 'patrol',
-    description: defaultLoopTask(),
+    description: defaultPatrolTask(),
     unix_millis_earliest_start_time: 0,
     priority: { type: 'binary', value: 0 },
     user: '',
@@ -729,10 +664,9 @@ export interface CreateTaskFormProps
   user: string;
   allowBatch?: boolean;
   cleaningZones?: string[];
-  loopWaypoints?: string[];
-  deliveryWaypoints?: string[];
-  dispensers?: string[];
-  ingestors?: string[];
+  patrolWaypoints?: string[];
+  pickupPoints?: string[];
+  dropoffPoints?: string[];
   favoritesTasks: TaskFavorite[];
   submitTasks?(tasks: TaskRequest[], schedule: Schedule | null): Promise<void>;
   tasksFromFile?(): Promise<TaskRequest[]> | TaskRequest[];
@@ -749,10 +683,9 @@ export interface CreateTaskFormProps
 export function CreateTaskForm({
   user,
   cleaningZones = [],
-  loopWaypoints = [],
-  deliveryWaypoints = [],
-  dispensers = [],
-  ingestors = [],
+  patrolWaypoints = [],
+  pickupPoints = [],
+  dropoffPoints = [],
   favoritesTasks = [],
   submitTasks,
   tasksFromFile,
@@ -843,9 +776,9 @@ export function CreateTaskForm({
         );
       case 'patrol':
         return (
-          <LoopTaskForm
-            taskDesc={taskRequest.description as LoopTaskDescription}
-            loopWaypoints={loopWaypoints}
+          <PatrolTaskForm
+            taskDesc={taskRequest.description as PatrolTaskDescription}
+            patrolWaypoints={patrolWaypoints}
             onChange={(desc) => handleTaskDescriptionChange('patrol', desc)}
           />
         );
@@ -853,9 +786,8 @@ export function CreateTaskForm({
         return (
           <DeliveryTaskForm
             taskDesc={taskRequest.description as DeliveryTaskDescription}
-            deliveryWaypoints={deliveryWaypoints}
-            dispensers={dispensers}
-            ingestors={ingestors}
+            pickupPoints={pickupPoints}
+            dropoffPoints={dropoffPoints}
             onChange={(desc) => handleTaskDescriptionChange('delivery', desc)}
           />
         );
@@ -1065,9 +997,29 @@ export function CreateTaskForm({
                       value={taskRequest.category}
                       onChange={handleTaskTypeChange}
                     >
-                      <MenuItem value="clean">Clean</MenuItem>
-                      <MenuItem value="patrol">Loop</MenuItem>
-                      <MenuItem value="delivery">Delivery</MenuItem>
+                      <MenuItem
+                        value="clean"
+                        disabled={!cleaningZones || cleaningZones.length === 0}
+                      >
+                        Clean
+                      </MenuItem>
+                      <MenuItem
+                        value="patrol"
+                        disabled={!patrolWaypoints || patrolWaypoints.length === 0}
+                      >
+                        Patrol
+                      </MenuItem>
+                      <MenuItem
+                        value="delivery"
+                        disabled={
+                          !pickupPoints ||
+                          pickupPoints.length === 0 ||
+                          !dropoffPoints ||
+                          dropoffPoints.length === 0
+                        }
+                      >
+                        Delivery
+                      </MenuItem>
                     </TextField>
                   </Grid>
                   <Grid item xs={10}>