diff --git a/server/app/query/create/page.tsx b/server/app/query/create/page.tsx
index af7d32a..65c2542 100644
--- a/server/app/query/create/page.tsx
+++ b/server/app/query/create/page.tsx
@@ -1,7 +1,7 @@
 "use client";
 import { useState, useRef, FormEvent, useEffect, Fragment } from "react";
 import clsx from "clsx";
-import { Listbox, Transition, Combobox } from "@headlessui/react";
+import { Listbox, Transition, Combobox, Switch } from "@headlessui/react";
 import {
   CheckIcon,
   ChevronUpDownIcon,
@@ -126,6 +126,7 @@ function IPAForm({
   const [commitSpecifier, setCommitSpecifier] = useState<CommitSpecifier>(
     CommitSpecifier.BRANCH,
   );
+  const [stallDetectionEnabled, setStallDetectionEnabled] = useState(true);
   const disableBranch = commitSpecifier != CommitSpecifier.BRANCH;
   const disableCommitHash = commitSpecifier != CommitSpecifier.COMMIT_HASH;
   const filteredCommitHashes =
@@ -242,7 +243,7 @@ function IPAForm({
         <label
           htmlFor="commit_hash"
           className={clsx(
-            "block text-md font-medium leading-6 text-gray-900 pt-4 pl-[-30px]",
+            "block text-sm font-medium leading-6 text-gray-900 pt-4 pl-[-30px]",
             disableCommitHash && "opacity-25",
           )}
         >
@@ -294,7 +295,6 @@ function IPAForm({
           Not a valid commit hash.
         </p>
       )}
-
       <SelectMenu
         id="size"
         label="Input Size"
@@ -319,6 +319,34 @@ function IPAForm({
         options={["16", "32", "64", "128", "256"]}
         defaultValue="64"
       />
+      <SelectMenu
+        id="gate_type"
+        label="Gate Type"
+        options={["compact", "descriptive"]}
+        defaultValue="compact"
+      />
+      <div className="items-center pt-4">
+        <div className="block text-sm font-medium leading-6 text-gray-900">
+          Stall detection
+        </div>
+        <div className="block pt-1 text-sm font-medium leading-6 text-gray-900">
+          <Switch
+            checked={stallDetectionEnabled}
+            onChange={setStallDetectionEnabled}
+            name="stall_detection"
+            className={`${
+              stallDetectionEnabled ? "bg-blue-600" : "bg-gray-200"
+            } relative inline-flex h-6 w-11 items-center rounded-full transition-colors focus:outline-none focus:ring-2 focus:ring-indigo-500 focus:ring-offset-2`}
+          >
+            <span
+              className={`${
+                stallDetectionEnabled ? "translate-x-6" : "translate-x-1"
+              } inline-block h-4 w-4 transform rounded-full bg-white transition-transform`}
+            />
+          </Switch>
+        </div>
+      </div>
+
       <button
         type="submit"
         className={clsx(
@@ -394,7 +422,7 @@ function PassedStateSelectMenu({
         <>
           <Listbox.Label
             className={clsx(
-              "block text-sm font-medium leading-6 text-gray-900",
+              "block pt-4 text-sm font-medium leading-6 text-gray-900",
               labelClassName,
               disabled && "opacity-25",
             )}
@@ -403,7 +431,7 @@ function PassedStateSelectMenu({
           </Listbox.Label>
           <div
             className={clsx(
-              "relative mt-2",
+              "relative",
               selectClassName,
               disabled && "opacity-25",
             )}
diff --git a/sidecar/app/command.py b/sidecar/app/command.py
index f21508d..cd8ef5c 100644
--- a/sidecar/app/command.py
+++ b/sidecar/app/command.py
@@ -82,10 +82,11 @@ def __enter__(self):
     def signal_handler(self, sig, _frame):
         print(f"Handling signal: {sig}")
         for process in self.processes:
-            for child in psutil.Process(process.pid).children(recursive=True):
-                child.terminate()
-                print(f"Terminating: {child}")
-            process.terminate()
+            if psutil.pid_exists(process.pid):
+                for child in psutil.Process(process.pid).children(recursive=True):
+                    child.terminate()
+                    print(f"Terminating: {child}")
+                process.terminate()
             print(f"Terminating: {process}")
         sys.exit(0)
 
diff --git a/sidecar/app/query/ipa.py b/sidecar/app/query/ipa.py
index a895591..431da46 100644
--- a/sidecar/app/query/ipa.py
+++ b/sidecar/app/query/ipa.py
@@ -2,6 +2,7 @@
 
 import time
 from dataclasses import dataclass, field
+from enum import StrEnum
 from pathlib import Path
 from typing import ClassVar
 from urllib.parse import urlunparse
@@ -17,6 +18,11 @@
 from .step import CommandStep, LoggerOutputCommandStep, Status, Step
 
 
+class GateType(StrEnum):
+    COMPACT = "compact-gate"
+    DESCRIPTIVE = "descriptive-gate"
+
+
 @dataclass(kw_only=True)
 class IPAQuery(Query):
     paths: Paths
@@ -155,23 +161,30 @@ def build_command(self) -> LoggerOutputCommand:
 class IPAHelperCompileStep(LoggerOutputCommandStep):
     manifest_path: Path
     target_path: Path
+    gate_type: GateType
+    stall_detection: bool
     logger: loguru.Logger = field(repr=False)
     status: ClassVar[Status] = Status.COMPILING
 
     @classmethod
-    def build_from_query(cls, query: IPAQuery):
+    def build_from_query(cls, query: IPAHelperQuery):
         manifest_path = query.paths.repo_path / Path("Cargo.toml")
         target_path = query.paths.repo_path / Path(f"target-{query.paths.commit_hash}")
+        gate_type = query.gate_type
+        stall_detection = query.stall_detection
         return cls(
             manifest_path=manifest_path,
             target_path=target_path,
+            gate_type=gate_type,
+            stall_detection=stall_detection,
             logger=query.logger,
         )
 
     def build_command(self) -> LoggerOutputCommand:
         return LoggerOutputCommand(
             cmd=f"cargo build --bin helper --manifest-path={self.manifest_path} "
-            f'--features="web-app real-world-infra compact-gate stall-detection" '
+            f'--features="web-app real-world-infra {self.gate_type} '
+            f"{'stall-detection' if self.stall_detection else ''}\" "
             f"--no-default-features --target-dir={self.target_path} "
             f"--release",
             logger=self.logger,
@@ -383,6 +396,8 @@ def build_command(self) -> LoggerOutputCommand:
 @dataclass(kw_only=True)
 class IPAHelperQuery(IPAQuery):
     port: int
+    gate_type: GateType
+    stall_detection: bool
 
     step_classes: ClassVar[list[type[Step]]] = [
         IPACloneStep,
diff --git a/sidecar/app/routes/start.py b/sidecar/app/routes/start.py
index 2b42304..635da73 100644
--- a/sidecar/app/routes/start.py
+++ b/sidecar/app/routes/start.py
@@ -6,7 +6,7 @@
 from ..local_paths import Paths
 from ..query.base import Query
 from ..query.demo_logger import DemoLoggerQuery
-from ..query.ipa import IPACoordinatorQuery, IPAHelperQuery
+from ..query.ipa import GateType, IPACoordinatorQuery, IPAHelperQuery
 from ..query.step import Status
 from ..settings import settings
 
@@ -39,6 +39,8 @@ def demo_logger(
 def start_ipa_helper(
     query_id: str,
     commit_hash: Annotated[str, Form()],
+    gate_type: Annotated[str, Form()],
+    stall_detection: Annotated[bool, Form()],
     background_tasks: BackgroundTasks,
 ):
     role = settings.role
@@ -53,6 +55,8 @@ def start_ipa_helper(
     query = IPAHelperQuery(
         paths=paths,
         query_id=query_id,
+        gate_type=GateType[gate_type.upper()],
+        stall_detection=stall_detection,
         port=settings.helper_port,
     )
     background_tasks.add_task(query.start)
diff --git a/sidecar/cli/cli.py b/sidecar/cli/cli.py
index b5fc98e..a034c78 100644
--- a/sidecar/cli/cli.py
+++ b/sidecar/cli/cli.py
@@ -159,7 +159,7 @@ def run_helper_sidecar(
     default=Path("local_dev/config"),
     show_default=True,
 )
-@click.option("--root_path", type=click_pathlib.Path(), default=Path("."))
+@click.option("--root_path", type=click_pathlib.Path(), default=None)
 @click.option("--root_domain", type=str, default="ipa-helper.dev")
 @click.option("--sidecar_domain", type=str, default="")
 @click.option("--helper_port", type=int, default=7430)
@@ -265,7 +265,7 @@ def run_local_dev(
             identity=role,
             helper_port=helper_ports[role],
             sidecar_port=sidecar_ports[role],
-            root_path=root_path,
+            root_path=root_path / Path(f"tmp/sidecar/{role.value}"),
             _env=_env,
         )
         for role in Role