diff --git a/src/bin/scheduler/main.rs b/src/bin/scheduler/main.rs
index dc2e9ad1..17ac859a 100644
--- a/src/bin/scheduler/main.rs
+++ b/src/bin/scheduler/main.rs
@@ -66,17 +66,9 @@ fn run() -> Result<(), Terminate> {
 
     write_phase(&SchedulerPhase::Setup, &global_config)?;
     let (plans, setup_failures) = setup::steps::run::run(&global_config, plans)?;
+    write_setup_failures(setup_failures.into_iter(), &global_config)?;
     info!("Setup steps completed");
 
-    write_phase(&SchedulerPhase::ManagedRobots, &global_config)?;
-    let (plans, unpacking_managed_failures) = setup::unpack_managed::setup(plans);
-    info!("Managed robot setup completed");
-
-    write_setup_failures(
-        setup_failures.into_iter().chain(unpacking_managed_failures),
-        &global_config,
-    )?;
-
     if global_config.cancellation_token.is_cancelled() {
         info!("Terminated");
         return Ok(());
diff --git a/src/bin/scheduler/setup/mod.rs b/src/bin/scheduler/setup/mod.rs
index 482443e0..9b9474d0 100644
--- a/src/bin/scheduler/setup/mod.rs
+++ b/src/bin/scheduler/setup/mod.rs
@@ -2,5 +2,4 @@ pub mod base_directories;
 mod fs_entries;
 mod ownership;
 pub mod steps;
-pub mod unpack_managed;
 mod windows_permissions;
diff --git a/src/bin/scheduler/setup/steps/mod.rs b/src/bin/scheduler/setup/steps/mod.rs
index 302aded8..90cbc021 100644
--- a/src/bin/scheduler/setup/steps/mod.rs
+++ b/src/bin/scheduler/setup/steps/mod.rs
@@ -2,6 +2,7 @@ mod api;
 mod directories;
 mod rcc;
 pub mod run;
+mod unpack_managed;
 
 use crate::internal_config::Plan;
 
diff --git a/src/bin/scheduler/setup/steps/run.rs b/src/bin/scheduler/setup/steps/run.rs
index fbb9372a..6bba1997 100644
--- a/src/bin/scheduler/setup/steps/run.rs
+++ b/src/bin/scheduler/setup/steps/run.rs
@@ -1,5 +1,5 @@
 use super::api::{run_steps, StepWithPlans};
-use super::{directories, rcc};
+use super::{directories, rcc, unpack_managed};
 use crate::internal_config::{sort_plans_by_grouping, GlobalConfig, Plan};
 use robotmk::results::SetupFailure;
 use robotmk::termination::Cancelled;
@@ -29,9 +29,9 @@ pub fn run(
 
 type Gatherer = fn(&GlobalConfig, Vec<Plan>) -> Vec<StepWithPlans>;
 #[cfg(unix)]
-type Steps = [Gatherer; 10];
+type Steps = [Gatherer; 11];
 #[cfg(windows)]
-type Steps = [Gatherer; 16];
+type Steps = [Gatherer; 17];
 
 const STEPS: Steps = [
     directories::gather_managed_directories,
@@ -56,4 +56,5 @@ const STEPS: Steps = [
     #[cfg(windows)]
     rcc::gather_enable_rcc_long_path_support,
     rcc::gather_disable_rcc_shared_holotree,
+    unpack_managed::gather,
 ];
diff --git a/src/bin/scheduler/setup/unpack_managed.rs b/src/bin/scheduler/setup/steps/unpack_managed.rs
similarity index 73%
rename from src/bin/scheduler/setup/unpack_managed.rs
rename to src/bin/scheduler/setup/steps/unpack_managed.rs
index 3fbb5bb0..4a1a4c77 100644
--- a/src/bin/scheduler/setup/unpack_managed.rs
+++ b/src/bin/scheduler/setup/steps/unpack_managed.rs
@@ -1,42 +1,51 @@
-use crate::internal_config::{Plan, Source};
+use super::api::{self, skip, SetupStep, StepWithPlans};
+use crate::internal_config::{GlobalConfig, Plan, Source};
 use anyhow::Context;
-use camino::Utf8Path;
+use camino::{Utf8Path, Utf8PathBuf};
 use flate2::read::GzDecoder;
-use log::{error, info};
-use robotmk::results::SetupFailure;
+use log::info;
 use std::fs::File;
 use tar::Archive;
 
 const SIZE_LIMIT: u64 = 50 * 1024 * 1024;
 
-pub fn setup(plans: Vec<Plan>) -> (Vec<Plan>, Vec<SetupFailure>) {
-    let mut surviving_plans = Vec::new();
-    let mut failures = vec![];
-    for plan in plans.into_iter() {
-        if let Source::Managed {
-            tar_gz_path,
-            target,
-            ..
-        } = &plan.source
-        {
-            if let Err(error) = unpack_into(tar_gz_path, target, SIZE_LIMIT) {
-                error!(
-                    "Plan {}: Failed to unpack managed source archive. Plan won't be scheduled.
-                     Error: {error:?}",
-                    plan.id
-                );
-                failures.push(SetupFailure {
-                    plan_id: plan.id.clone(),
-                    summary: "Failed to unpack managed source archive".to_string(),
-                    details: format!("{error:?}"),
-                });
-                continue;
+pub fn gather(_config: &GlobalConfig, plans: Vec<Plan>) -> Vec<StepWithPlans> {
+    let mut steps: Vec<StepWithPlans> = vec![];
+    let mut manual_robots = vec![];
+    for plan in plans {
+        match &plan.source {
+            Source::Managed {
+                tar_gz_path,
+                target,
+                ..
+            } => steps.push((
+                Box::new(StepUnpackManaged {
+                    tar_gz_path: tar_gz_path.clone(),
+                    target_dir: target.clone(),
+                    size_limit: SIZE_LIMIT,
+                }),
+                vec![plan],
+            )),
+            Source::Manual => {
+                manual_robots.push(plan);
             }
-            info!("Unpacked {} into `{}`.", tar_gz_path, target);
         }
-        surviving_plans.push(plan);
     }
-    (surviving_plans, failures)
+    steps.push(skip(manual_robots));
+    steps
+}
+
+struct StepUnpackManaged {
+    tar_gz_path: Utf8PathBuf,
+    target_dir: Utf8PathBuf,
+    size_limit: u64,
+}
+
+impl SetupStep for StepUnpackManaged {
+    fn setup(&self) -> Result<(), api::Error> {
+        unpack_into(&self.tar_gz_path, &self.target_dir, self.size_limit)
+            .map_err(|err| api::Error::new("Failed to unpack managed robot archive".into(), err))
+    }
 }
 
 fn unpack_into(
diff --git a/src/results.rs b/src/results.rs
index 4e8067a2..6f654544 100644
--- a/src/results.rs
+++ b/src/results.rs
@@ -14,7 +14,6 @@ pub fn plan_results_directory(results_directory: &Utf8Path) -> Utf8PathBuf {
 
 #[derive(Serialize)]
 pub enum SchedulerPhase {
-    ManagedRobots,
     GracePeriod(u64),
     Setup,
     EnvironmentBuilding,