diff --git a/python/pyproject.toml b/python/pyproject.toml
index 83b365eb7..1a04389b5 100644
--- a/python/pyproject.toml
+++ b/python/pyproject.toml
@@ -21,7 +21,7 @@ dependencies = [
 
 [project.optional-dependencies]
 srt = ["aiohttp", "fastapi", "hf_transfer", "huggingface_hub", "interegular", "packaging", "pillow",
-       "psutil", "pydantic", "rpyc", "torch", "uvicorn", "uvloop", "zmq", "vllm==0.5.1", "outlines>=0.0.44"]
+       "psutil", "pydantic", "torch", "uvicorn", "uvloop", "zmq", "vllm==0.5.1", "outlines>=0.0.44"]
 openai = ["openai>=1.0", "tiktoken"]
 anthropic = ["anthropic>=0.20.0"]
 litellm = ["litellm>=1.0.0"]
diff --git a/python/sglang/launch_server.py b/python/sglang/launch_server.py
index cb2b07251..91dc0dc4e 100644
--- a/python/sglang/launch_server.py
+++ b/python/sglang/launch_server.py
@@ -11,4 +11,4 @@ if __name__ == "__main__":
     args = parser.parse_args()
     server_args = ServerArgs.from_cli_args(args)
 
-    launch_server(server_args, None)
+    launch_server(server_args)
diff --git a/python/sglang/launch_server_llavavid.py b/python/sglang/launch_server_llavavid.py
index b71d8701d..c34dd2116 100644
--- a/python/sglang/launch_server_llavavid.py
+++ b/python/sglang/launch_server_llavavid.py
@@ -1,7 +1,6 @@
 """Launch the inference server for Llava-video model."""
 
 import argparse
-import multiprocessing as mp
 
 from sglang.srt.server import ServerArgs, launch_server
 
@@ -27,6 +26,4 @@ if __name__ == "__main__":
 
     server_args = ServerArgs.from_cli_args(args)
 
-    pipe_reader, pipe_writer = mp.Pipe(duplex=False)
-
-    launch_server(server_args, pipe_writer, model_overide_args)
+    launch_server(server_args, model_overide_args, None)
diff --git a/python/sglang/srt/managers/controller/dp_worker.py b/python/sglang/srt/managers/controller/dp_worker.py
deleted file mode 100644
index 3b6becfd2..000000000
--- a/python/sglang/srt/managers/controller/dp_worker.py
+++ /dev/null
@@ -1,113 +0,0 @@
-"""A data parallel worker thread."""
-
-import asyncio
-import logging
-import queue
-import threading
-from typing import Callable, List
-
-import uvloop
-import zmq
-
-from sglang.global_config import global_config
-from sglang.srt.managers.controller.tp_worker import ModelTpClient
-from sglang.srt.managers.io_struct import BatchTokenIDOut
-from sglang.srt.server_args import PortArgs, ServerArgs
-from sglang.srt.utils import kill_parent_process
-from sglang.utils import get_exception_traceback
-
-logger = logging.getLogger("srt.controller")
-CHECKING_INTERVAL = 5
-
-asyncio.set_event_loop_policy(uvloop.EventLoopPolicy())
-
-
-class DataParallelWorkerThread(threading.Thread):
-    def __init__(
-        self,
-        worker_id: int,
-        request_queue: queue.Queue,
-        detokenizer_port: int,
-        step_func: Callable,
-    ):
-        super(DataParallelWorkerThread, self).__init__()
-        self.worker_id = worker_id
-        self.request_queue = request_queue
-        self.liveness = True
-        self.request_dependency_delay = global_config.request_dependency_delay
-
-        context = zmq.asyncio.Context()
-        self.send_to_detokenizer = context.socket(zmq.PUSH)
-        self.send_to_detokenizer.connect(f"tcp://127.0.0.1:{detokenizer_port}")
-
-        self.step = step_func
-
-    async def loop_for_forward(self):
-        while self.liveness:
-            requests = []
-            while not self.request_queue.empty():
-                requests.append(self.request_queue.get())
-
-            out_pyobjs: List[BatchTokenIDOut] = []
-            try:
-                out_pyobjs = await self.step(requests)
-            except Exception:
-                for r in requests:
-                    self.request_queue.put(r)
-                logger.error(
-                    f"Worker thread {self.worker_id}: "
-                    f"failed to get back from Model Server\n"
-                    f"{get_exception_traceback()}"
-                )
-                self.liveness = False
-                # Crash the whole server when there are any errors.
-                # TODO(lianmin): make this an option.
-                kill_parent_process()
-                return
-
-            for obj in out_pyobjs:
-                self.send_to_detokenizer.send_pyobj(obj)
-
-            # async sleep for receiving the subsequent request and avoiding cache miss
-            if len(out_pyobjs) != 0:
-                has_finished = any(
-                    [obj.finished_reason is not None for obj in out_pyobjs]
-                )
-                if has_finished:
-                    await asyncio.sleep(self.request_dependency_delay)
-            await asyncio.sleep(global_config.wait_for_new_request_delay)
-
-    async def monitoring(self):
-        while True:
-            await asyncio.sleep(CHECKING_INTERVAL)
-            # can plug in monitoring logic here
-
-    def run(self):
-        logger.info(f"DataParallelWorkerThread {self.worker_id} start")
-        loop = asyncio.new_event_loop()
-        asyncio.set_event_loop(loop)
-        loop.create_task(self.monitoring())
-        loop.run_until_complete(self.loop_for_forward())
-
-
-def start_data_parallel_worker(
-    server_args: ServerArgs,
-    port_args: PortArgs,
-    model_overide_args,
-    gpu_ids: List[int],
-    worker_id: int,
-):
-    model_tp_client = ModelTpClient(
-        gpu_ids,
-        server_args,
-        port_args.model_port_args[worker_id],
-        model_overide_args,
-    )
-    worker_thread = DataParallelWorkerThread(
-        worker_id=worker_id,
-        request_queue=queue.Queue(),
-        detokenizer_port=port_args.detokenizer_port,
-        step_func=model_tp_client.step,
-    )
-    worker_thread.start()
-    return worker_thread
diff --git a/python/sglang/srt/managers/controller/manager_multi.py b/python/sglang/srt/managers/controller/manager_multi.py
index ea942093a..188ee0e20 100644
--- a/python/sglang/srt/managers/controller/manager_multi.py
+++ b/python/sglang/srt/managers/controller/manager_multi.py
@@ -3,19 +3,17 @@ A controller that manages multiple data parallel workers.
 Each data parallel worker can manage multiple tensor parallel workers.
 """
 
-import asyncio
+import dataclasses
 import logging
-from concurrent.futures import ThreadPoolExecutor
+import multiprocessing
+import os
 from enum import Enum, auto
-from typing import Dict
 
+import numpy as np
 import zmq
-import zmq.asyncio
 
-from sglang.global_config import global_config
-from sglang.srt.managers.controller.dp_worker import (
-    DataParallelWorkerThread,
-    start_data_parallel_worker,
+from sglang.srt.managers.controller.manager_single import (
+    start_controller_process as start_controller_process_single,
 )
 from sglang.srt.managers.io_struct import (
     AbortReq,
@@ -23,12 +21,14 @@ from sglang.srt.managers.io_struct import (
     TokenizedGenerateReqInput,
 )
 from sglang.srt.server_args import PortArgs, ServerArgs
+from sglang.srt.utils import kill_parent_process
 from sglang.utils import get_exception_traceback
 
 logger = logging.getLogger("srt.controller")
 
 
 class LoadBalanceMethod(Enum):
+    """Load balance method."""
     ROUND_ROBIN = auto()
     SHORTEST_QUEUE = auto()
 
@@ -41,155 +41,155 @@ class LoadBalanceMethod(Enum):
             raise ValueError(f"Invalid load balance method: {method}") from exc
 
 
-class Controller:
+@dataclasses.dataclass
+class WorkerHandle:
+    """Store the handle of a data parallel worker."""
+    proc: multiprocessing.Process
+    queue: multiprocessing.Queue
+
+
+class ControllerMulti:
     """A controller that manages multiple data parallel workers."""
 
     def __init__(
         self,
-        load_balance_method: str,
         server_args: ServerArgs,
         port_args: PortArgs,
         model_overide_args,
     ):
-        self.load_balance_method = LoadBalanceMethod.from_str(load_balance_method)
+        # Parse args
         self.server_args = server_args
         self.port_args = port_args
+        self.model_overide_args = model_overide_args
+        self.load_balance_method = LoadBalanceMethod.from_str(
+            server_args.load_balance_method)
 
-        if self.load_balance_method == LoadBalanceMethod.ROUND_ROBIN:
-            self.round_robin_counter = 0
+        # Init communication
+        context = zmq.Context()
+        self.recv_from_tokenizer = context.socket(zmq.PULL)
+        self.recv_from_tokenizer.bind(f"tcp://127.0.0.1:{port_args.controller_port}")
 
-        self.dispatch_lookup = {
+        # Dispatch method
+        self.round_robin_counter = 0
+        dispatch_lookup = {
             LoadBalanceMethod.ROUND_ROBIN: self.round_robin_scheduler,
             LoadBalanceMethod.SHORTEST_QUEUE: self.shortest_queue_scheduler,
         }
-        self.dispatching = self.dispatch_lookup[self.load_balance_method]
-
-        # Init communication
-        context = zmq.asyncio.Context()
-        self.recv_from_tokenizer = context.socket(zmq.PULL)
-        self.recv_from_tokenizer.bind(f"tcp://127.0.0.1:{port_args.router_port}")
-
-        # Init status
-        self.recv_reqs = []
+        self.dispatching = dispatch_lookup[self.load_balance_method]
 
         # Start data parallel workers
-        self.workers: Dict[int, DataParallelWorkerThread] = {}
-        tp_size = server_args.tp_size
-
-        def start_dp_worker(i):
-            try:
-                gpu_ids = list(range(i * tp_size, (i + 1) * tp_size))
-                worker_thread = start_data_parallel_worker(
-                    server_args, port_args, model_overide_args, gpu_ids, i
-                )
-                self.workers[i] = worker_thread
-            except Exception:
-                logger.error(
-                    f"Failed to start local worker {i}\n{get_exception_traceback()}"
-                )
-
+        self.workers = []
         for i in range(server_args.dp_size):
-            start_dp_worker(i)
+            self.start_dp_worker(i)
 
-        # Parallel launch is slower, probably due to the disk bandwidth limitations.
-        # with ThreadPoolExecutor(server_args.dp_size) as executor:
-        #     executor.map(start_dp_worker, range(server_args.dp_size))
+    def start_dp_worker(self, dp_worker_id: int):
+        tp_size = self.server_args.tp_size
 
-    def have_any_live_worker(self):
-        return any(worker_thread.liveness for worker_thread in self.workers.values())
+        pipe_controller_reader, pipe_controller_writer = multiprocessing.Pipe(duplex=False)
 
-    def put_req_to_worker(self, worker_id, req):
-        self.workers[worker_id].request_queue.put(req)
+        gpu_ids = list(range(dp_worker_id * tp_size, (dp_worker_id + 1) * tp_size))
+        queue = multiprocessing.Queue()
+        proc = multiprocessing.Process(
+            target=start_controller_process_single,
+            args=(
+                self.server_args,
+                self.port_args,
+                pipe_controller_writer,
+                self.model_overide_args,
+                True,
+                gpu_ids,
+                dp_worker_id,
+                queue,
+            )
+        )
+        proc.start()
 
-    async def round_robin_scheduler(self, input_requests):
-        available_workers = list(self.workers.keys())
+        controller_init_state = pipe_controller_reader.recv()
+        if controller_init_state != "init ok":
+            raise RuntimeError(
+                f"Initialization failed. controller_init_state: {controller_init_state}"
+            )
+        self.workers.append(WorkerHandle(
+            proc=proc,
+            queue=queue,
+        ))
+
+    def round_robin_scheduler(self, input_requests):
         for r in input_requests:
-            self.put_req_to_worker(available_workers[self.round_robin_counter], r)
+            self.workers[self.round_robin_counter].queue.put(r)
             self.round_robin_counter = (self.round_robin_counter + 1) % len(
-                available_workers
+                self.workers
             )
-        return
 
-    async def shortest_queue_scheduler(self, input_requests):
+    def shortest_queue_scheduler(self, input_requests):
         for r in input_requests:
-            worker = min(
-                self.workers, key=lambda w: self.workers[w].request_queue.qsize()
-            )
-            self.put_req_to_worker(worker, r)
-        return
+            queue_sizes = [worker.queue.qsize() for worker in self.workers]
+            wid = np.argmin(queue_sizes)
+            self.workers[wid].queue.put(r)
 
-    async def remove_dead_workers(self):
-        for i in list(self.workers.keys()):
-            worker_thread = self.workers[i]
-            if not worker_thread.liveness:
-                worker_thread.join()
-                # move unsuccessful requests back to the queue
-                while not worker_thread.request_queue.empty():
-                    self.recv_reqs.append(worker_thread.request_queue.get())
-                del self.workers[i]
-                logger.info(f"Stale worker {i} removed")
-
-    async def loop_for_forward(self):
+    def loop_for_forward(self):
         while True:
-            await self.remove_dead_workers()
+            recv_reqs = self.recv_requests()
+            self.dispatching(recv_reqs)
 
-            if self.have_any_live_worker():
-                next_step_input = list(self.recv_reqs)
-                self.recv_reqs = []
-                if next_step_input:
-                    await self.dispatching(next_step_input)
-            # else:
-            #    logger.error("There is no live worker.")
+    def recv_requests(self):
+        recv_reqs = []
 
-            await asyncio.sleep(global_config.wait_for_new_request_delay)
-
-    async def loop_for_recv_requests(self):
         while True:
-            recv_req = await self.recv_from_tokenizer.recv_pyobj()
+            try:
+                recv_req = self.recv_from_tokenizer.recv_pyobj(zmq.NOBLOCK)
+            except zmq.ZMQError:
+                break
+
             if isinstance(recv_req, FlushCacheReq):
                 # TODO(lsyin): apply more specific flushCacheReq
-                for worker_thread in self.workers.values():
-                    worker_thread.request_queue.put(recv_req)
-            elif isinstance(recv_req, TokenizedGenerateReqInput):
-                self.recv_reqs.append(recv_req)
+                for worker in self.workers:
+                    worker.queue.put(recv_req)
             elif isinstance(recv_req, AbortReq):
                 in_queue = False
-                for i, req in enumerate(self.recv_reqs):
+                for i, req in enumerate(recv_reqs):
                     if req.rid == recv_req.rid:
-                        self.recv_reqs[i] = recv_req
+                        recv_reqs[i] = recv_req
                         in_queue = True
                         break
                 if not in_queue:
                     # Send abort req to all TP groups
-                    for worker in list(self.workers.keys()):
-                        self.put_req_to_worker(worker, recv_req)
+                    for worker in self.workers:
+                        worker.queue.put(recv_req)
+            elif isinstance(recv_req, TokenizedGenerateReqInput):
+                recv_reqs.append(recv_req)
             else:
                 logger.error(f"Invalid object: {recv_req}")
 
+        return recv_reqs
+
 
 def start_controller_process(
     server_args: ServerArgs,
     port_args: PortArgs,
     pipe_writer,
-    model_overide_args=None,
+    model_overide_args: dict,
 ):
+    """Start a controller process."""
+
     logging.basicConfig(
         level=getattr(logging, server_args.log_level.upper()),
         format="%(message)s",
     )
 
     try:
-        controller = Controller(
-            server_args.load_balance_method, server_args, port_args, model_overide_args
-        )
+        controller = ControllerMulti(server_args, port_args, model_overide_args)
     except Exception:
         pipe_writer.send(get_exception_traceback())
         raise
+
     pipe_writer.send("init ok")
 
-    loop = asyncio.new_event_loop()
-    loop.set_default_executor(ThreadPoolExecutor(max_workers=256))
-
-    asyncio.set_event_loop(loop)
-    loop.create_task(controller.loop_for_recv_requests())
-    loop.run_until_complete(controller.loop_for_forward())
+    try:
+        controller.loop_for_forward()
+    except Exception:
+        logger.error("Exception in ControllerMulti:\n" + get_exception_traceback())
+    finally:
+        for w in controller.workers:
+            os.kill(w.proc.pid, 9)
+        kill_parent_process()
diff --git a/python/sglang/srt/managers/controller/manager_single.py b/python/sglang/srt/managers/controller/manager_single.py
index 37af98e9a..9326945f9 100644
--- a/python/sglang/srt/managers/controller/manager_single.py
+++ b/python/sglang/srt/managers/controller/manager_single.py
@@ -3,126 +3,61 @@
 import logging
 import multiprocessing
 import os
-import pickle
+from typing import List
 
-import torch
-import torch.distributed as dist
 import zmq
-import zmq.asyncio
 
-from sglang.srt.managers.controller.tp_worker import ModelTpServer
-from sglang.srt.server_args import ModelPortArgs, PortArgs, ServerArgs
+from sglang.srt.managers.controller.tp_worker import (
+    broadcast_recv_input, launch_tp_servers, ModelTpServer
+)
+from sglang.srt.server_args import PortArgs, ServerArgs
 from sglang.srt.utils import kill_parent_process
 from sglang.utils import get_exception_traceback
 
 logger = logging.getLogger("srt.controller")
 
 
-def run_tp_server(
-    gpu_id: int,
-    tp_rank: int,
-    server_args: ServerArgs,
-    model_port_args: ModelPortArgs,
-    model_overide_args: dict,
-):
-    """Run a tp server."""
-    try:
-        model_server = ModelTpServer(
-            gpu_id,
-            tp_rank,
-            server_args,
-            model_port_args,
-            model_overide_args,
-        )
-        tp_cpu_group = model_server.model_runner.tp_group.cpu_group
-
-        while True:
-            recv_reqs = broadcast_recv_input(None, tp_rank, tp_cpu_group)
-            model_server.exposed_step(recv_reqs)
-    except Exception:
-        logger.error("Exception in run_tp_server:\n" + get_exception_traceback())
-        raise
-
-
-def launch_tp_servers(
-    gpu_ids, tp_rank_range, server_args, model_port_args, model_overide_args
-):
-    """Launch multiple tp servers."""
-    procs = []
-    for i in tp_rank_range:
-        proc = multiprocessing.Process(
-            target=run_tp_server,
-            args=(gpu_ids[i], i, server_args, model_port_args, model_overide_args),
-        )
-        proc.start()
-        procs.append(proc)
-
-    return procs
-
-
-def broadcast_recv_input(data, rank, dist_group):
-    """Broadcast inputs from rank=0 to all other ranks with torch.dist backend."""
-
-    if rank == 0:
-        if len(data) == 0:
-            tensor_size = torch.tensor([0], dtype=torch.long)
-            dist.broadcast(tensor_size, src=0, group=dist_group)
-        else:
-            serialized_data = pickle.dumps(data)
-            size = len(serialized_data)
-            tensor_data = torch.ByteTensor(list(serialized_data))
-            tensor_size = torch.tensor([size], dtype=torch.long)
-
-            dist.broadcast(tensor_size, src=0, group=dist_group)
-            dist.broadcast(tensor_data, src=0, group=dist_group)
-    else:
-        tensor_size = torch.tensor([0], dtype=torch.long)
-        dist.broadcast(tensor_size, src=0, group=dist_group)
-        size = tensor_size.item()
-
-        if size == 0:
-            return []
-
-        tensor_data = torch.empty(size, dtype=torch.uint8)
-        dist.broadcast(tensor_data, src=0, group=dist_group)
-
-        serialized_data = bytes(tensor_data.tolist())
-        data = pickle.loads(serialized_data)
-        return data
-
-
 class ControllerSingle:
     """A controller that manages a group of tensor parallel workers."""
 
     def __init__(
-        self, server_args: ServerArgs, port_args: PortArgs, model_overide_args: dict
+        self,
+        server_args: ServerArgs,
+        port_args: PortArgs,
+        model_overide_args: dict,
+        gpu_ids: List[int],
+        is_data_parallel_worker: bool,
+        dp_worker_id: int,
+        mp_queue: multiprocessing.Queue,
     ):
         # Parse args
-        self.server_args = server_args
-        self.tp_procs = []
+        self.tp_size = server_args.tp_size
+        self.is_dp_worker = is_data_parallel_worker
+        self.dp_worker_id = dp_worker_id
+        self.mp_queue = mp_queue
 
         # Init communication
         context = zmq.Context(2)
-        self.recv_from_tokenizer = context.socket(zmq.PULL)
-        self.recv_from_tokenizer.bind(f"tcp://127.0.0.1:{port_args.router_port}")
+
+        if not self.is_dp_worker:
+            self.recv_from_tokenizer = context.socket(zmq.PULL)
+            self.recv_from_tokenizer.bind(f"tcp://127.0.0.1:{port_args.controller_port}")
 
         self.send_to_detokenizer = context.socket(zmq.PUSH)
         self.send_to_detokenizer.connect(
             f"tcp://127.0.0.1:{port_args.detokenizer_port}"
         )
 
-        # Init model server
-        tp_size_local = server_args.tp_size // server_args.nnodes
-        gpu_ids = [i for _ in range(server_args.nnodes) for i in range(tp_size_local)]
-
         # Launch other tp ranks
+        tp_size_local = server_args.tp_size // server_args.nnodes
+        self.tp_procs = []
         if tp_size_local > 1:
             tp_rank_range = range(1, tp_size_local)
             self.tp_procs = launch_tp_servers(
                 gpu_ids,
                 tp_rank_range,
                 server_args,
-                port_args.model_port_args[0],
+                port_args.nccl_ports[dp_worker_id],
                 model_overide_args,
             )
 
@@ -131,16 +66,19 @@ class ControllerSingle:
             gpu_ids[0],
             0,
             server_args,
-            port_args.model_port_args[0],
+            port_args.nccl_ports[dp_worker_id],
             model_overide_args,
         )
         self.tp_cpu_group = self.tp_server.model_runner.tp_group.cpu_group
 
     def loop_for_forward(self):
         while True:
-            recv_reqs = self.recv_requests()
+            if not self.is_dp_worker:
+                recv_reqs = self.recv_requests_from_zmq()
+            else:
+                recv_reqs = self.recv_requests_from_mp_queue()
 
-            if self.server_args.tp_size > 1:
+            if self.tp_size > 1:
                 broadcast_recv_input(recv_reqs, 0, self.tp_cpu_group)
 
             out_pyobjs = self.tp_server.exposed_step(recv_reqs)
@@ -148,27 +86,51 @@ class ControllerSingle:
             for obj in out_pyobjs:
                 self.send_to_detokenizer.send_pyobj(obj)
 
-    def recv_requests(self):
+    def recv_requests_from_zmq(self):
         recv_reqs = []
         while True:
             try:
                 recv_req = self.recv_from_tokenizer.recv_pyobj(zmq.NOBLOCK)
-                recv_reqs.append(recv_req)
             except zmq.ZMQError:
                 break
+            recv_reqs.append(recv_req)
+
+        return recv_reqs
+
+    def recv_requests_from_mp_queue(self):
+        recv_reqs = []
+        while not self.mp_queue.empty():
+            recv_reqs.append(self.mp_queue.get())
         return recv_reqs
 
 
 def start_controller_process(
-    server_args: ServerArgs, port_args: PortArgs, pipe_writer, model_overide_args: dict
+    server_args: ServerArgs,
+    port_args: PortArgs,
+    pipe_writer: multiprocessing.connection.Connection,
+    model_overide_args: dict,
+    is_data_parallel_worker: bool = False,
+    gpu_ids: List[int] = None,
+    dp_worker_id: int = None,
+    queue: multiprocessing.connection.Connection = None,
 ):
+    """Start a controller process."""
+
     logging.basicConfig(
         level=getattr(logging, server_args.log_level.upper()),
         format="%(message)s",
     )
 
+    if not is_data_parallel_worker:
+        tp_size_local = server_args.tp_size // server_args.nnodes
+        gpu_ids = [i for _ in range(server_args.nnodes) for i in range(tp_size_local)]
+        dp_worker_id = 0
+        queue = None
+
     try:
-        controller = ControllerSingle(server_args, port_args, model_overide_args)
+        controller = ControllerSingle(server_args, port_args, model_overide_args,
+                                      gpu_ids, is_data_parallel_worker,
+                                      dp_worker_id, queue)
     except Exception:
         pipe_writer.send(get_exception_traceback())
         raise
diff --git a/python/sglang/srt/managers/controller/tp_worker.py b/python/sglang/srt/managers/controller/tp_worker.py
index 80b051644..14a557e27 100644
--- a/python/sglang/srt/managers/controller/tp_worker.py
+++ b/python/sglang/srt/managers/controller/tp_worker.py
@@ -1,15 +1,14 @@
 """A tensor parallel worker."""
 
-import asyncio
 import logging
+import multiprocessing
+import pickle
 import time
 import warnings
-from concurrent.futures import ThreadPoolExecutor
 from typing import List, Optional
 
-import rpyc
 import torch
-from rpyc.utils.classic import obtain
+import torch.distributed as dist
 
 from sglang.global_config import global_config
 from sglang.srt.constrained.fsm_cache import FSMCache
@@ -32,13 +31,11 @@ from sglang.srt.managers.io_struct import (
     TokenizedGenerateReqInput,
 )
 from sglang.srt.model_config import ModelConfig
-from sglang.srt.server_args import ModelPortArgs, ServerArgs
+from sglang.srt.server_args import ServerArgs
 from sglang.srt.utils import (
-    connect_rpyc_service,
     get_int_token_logit_bias,
     is_multimodal_model,
     set_random_seed,
-    start_rpyc_service_process,
     suppress_other_loggers,
 )
 from sglang.utils import get_exception_traceback
@@ -52,10 +49,9 @@ class ModelTpServer:
         gpu_id: int,
         tp_rank: int,
         server_args: ServerArgs,
-        model_port_args: ModelPortArgs,
+        nccl_port: int,
         model_overide_args: dict,
     ):
-        server_args, model_port_args = obtain(server_args), obtain(model_port_args)
         suppress_other_loggers()
 
         # Copy arguments
@@ -79,7 +75,7 @@ class ModelTpServer:
             gpu_id=gpu_id,
             tp_rank=tp_rank,
             tp_size=server_args.tp_size,
-            nccl_port=model_port_args.nccl_port,
+            nccl_port=nccl_port,
             server_args=server_args,
         )
 
@@ -178,9 +174,6 @@ class ModelTpServer:
         self.new_token_ratio_recovery = global_config.new_token_ratio_recovery
 
     def exposed_step(self, recv_reqs):
-        if not isinstance(recv_reqs, list):
-            recv_reqs = obtain(recv_reqs)
-
         try:
             # Recv requests
             for recv_req in recv_reqs:
@@ -425,12 +418,6 @@ class ModelTpServer:
                 f"#running-req: {running_bs}, "
                 f"#queue-req: {len(self.forward_queue) - len(can_run_list)}"
             )
-            # logger.debug(
-            #    f"fsm_cache_hit_rate: {100.0 * self.regex_fsm_cache.get_cache_hit_rate():.2f}%. "
-            #    f"fsm_cache_avg_init_time: {self.regex_fsm_cache.get_avg_init_time():.2f}s. "
-            #    f"ff_cache_hit_rate: {100.0 * self.jump_forward_cache.get_cache_hit_rate():.2f}%. "
-            #    f"ff_cache_avg_init_time: {self.jump_forward_cache.get_avg_init_time():.2f}s. "
-            # )
 
         # Return the new batch
         new_batch = Batch.init_new(
@@ -733,87 +720,74 @@ class ModelTpServer:
                     break
 
 
-class ModelTpService(rpyc.Service):
-    exposed_ModelTpServer = ModelTpServer
+def run_tp_server(
+    gpu_id: int,
+    tp_rank: int,
+    server_args: ServerArgs,
+    nccl_port: int,
+    model_overide_args: dict,
+):
+    """Run a tensor parallel server."""
+    try:
+        model_server = ModelTpServer(
+            gpu_id,
+            tp_rank,
+            server_args,
+            nccl_port,
+            model_overide_args,
+        )
+        tp_cpu_group = model_server.model_runner.tp_group.cpu_group
+
+        while True:
+            recv_reqs = broadcast_recv_input(None, tp_rank, tp_cpu_group)
+            model_server.exposed_step(recv_reqs)
+    except Exception:
+        logger.error("Exception in run_tp_server:\n" + get_exception_traceback())
+        raise
 
 
-class ModelTpClient:
-    def __init__(
-        self,
-        gpu_ids: List[int],
-        server_args: ServerArgs,
-        model_port_args: ModelPortArgs,
-        model_overide_args,
-    ):
-        server_args, model_port_args = obtain(server_args), obtain(model_port_args)
-        self.tp_size = server_args.tp_size
+def launch_tp_servers(
+    gpu_ids, tp_rank_range, server_args, nccl_port, model_overide_args
+):
+    """Launch multiple tensor parallel servers."""
+    procs = []
+    for i in tp_rank_range:
+        proc = multiprocessing.Process(
+            target=run_tp_server,
+            args=(gpu_ids[i], i, server_args, nccl_port, model_overide_args),
+        )
+        proc.start()
+        procs.append(proc)
 
-        if self.tp_size * server_args.dp_size == 1:
-            # Init model
-            assert len(gpu_ids) == 1
-            self.model_server = ModelTpService().exposed_ModelTpServer(
-                gpu_ids[0],
-                0,
-                server_args,
-                model_port_args,
-                model_overide_args,
-            )
+    return procs
 
-            # Wrap functions
-            def async_wrap(f):
-                async def _func(*args, **kwargs):
-                    return f(*args, **kwargs)
 
-                return _func
+def broadcast_recv_input(data, rank, dist_group):
+    """Broadcast inputs from rank=0 to all other ranks with torch.dist backend."""
 
-            self.step = async_wrap(self.model_server.exposed_step)
+    if rank == 0:
+        if len(data) == 0:
+            tensor_size = torch.tensor([0], dtype=torch.long)
+            dist.broadcast(tensor_size, src=0, group=dist_group)
         else:
-            with ThreadPoolExecutor(self.tp_size) as executor:
-                # Launch model processes
-                if server_args.nnodes == 1:
-                    self.procs = list(
-                        executor.map(
-                            lambda args: start_rpyc_service_process(*args),
-                            [
-                                (ModelTpService, p)
-                                for p in model_port_args.model_tp_ports
-                            ],
-                        )
-                    )
-                    addrs = [("localhost", p) for p in model_port_args.model_tp_ports]
-                else:
-                    addrs = [
-                        (ip, port)
-                        for ip, port in zip(
-                            model_port_args.model_tp_ips, model_port_args.model_tp_ports
-                        )
-                    ]
+            serialized_data = pickle.dumps(data)
+            size = len(serialized_data)
+            tensor_data = torch.ByteTensor(list(serialized_data))
+            tensor_size = torch.tensor([size], dtype=torch.long)
 
-                self.model_services = list(
-                    executor.map(lambda args: connect_rpyc_service(*args), addrs)
-                )
+            dist.broadcast(tensor_size, src=0, group=dist_group)
+            dist.broadcast(tensor_data, src=0, group=dist_group)
+    else:
+        tensor_size = torch.tensor([0], dtype=torch.long)
+        dist.broadcast(tensor_size, src=0, group=dist_group)
+        size = tensor_size.item()
 
-                # Init model
-                def init_model(i):
-                    return self.model_services[i].ModelTpServer(
-                        gpu_ids[i],
-                        i,
-                        server_args,
-                        model_port_args,
-                        model_overide_args,
-                    )
+        if size == 0:
+            return []
 
-                self.model_servers = list(executor.map(init_model, range(self.tp_size)))
+        tensor_data = torch.empty(size, dtype=torch.uint8)
+        dist.broadcast(tensor_data, src=0, group=dist_group)
 
-            # Wrap functions
-            def async_wrap(func_name):
-                fs = [rpyc.async_(getattr(m, func_name)) for m in self.model_servers]
-
-                async def _func(*args, **kwargs):
-                    tasks = [f(*args, **kwargs) for f in fs]
-                    await asyncio.gather(*[asyncio.to_thread(t.wait) for t in tasks])
-                    return obtain(tasks[0].value)
-
-                return _func
-
-            self.step = async_wrap("step")
+        serialized_data = bytes(tensor_data.tolist())
+        data = pickle.loads(serialized_data)
+        return data
diff --git a/python/sglang/srt/managers/tokenizer_manager.py b/python/sglang/srt/managers/tokenizer_manager.py
index 75af8e62c..0d3f1aa91 100644
--- a/python/sglang/srt/managers/tokenizer_manager.py
+++ b/python/sglang/srt/managers/tokenizer_manager.py
@@ -61,7 +61,7 @@ class TokenizerManager:
         self.recv_from_detokenizer.bind(f"tcp://127.0.0.1:{port_args.tokenizer_port}")
 
         self.send_to_router = context.socket(zmq.PUSH)
-        self.send_to_router.connect(f"tcp://127.0.0.1:{port_args.router_port}")
+        self.send_to_router.connect(f"tcp://127.0.0.1:{port_args.controller_port}")
 
         self.model_path = server_args.model_path
         self.hf_config = get_config(
diff --git a/python/sglang/srt/server.py b/python/sglang/srt/server.py
index cef04bc4b..9467f95c0 100644
--- a/python/sglang/srt/server.py
+++ b/python/sglang/srt/server.py
@@ -44,15 +44,13 @@ from sglang.srt.openai_api_adapter import (
     v1_chat_completions,
     v1_completions,
 )
-from sglang.srt.server_args import ModelPortArgs, PortArgs, ServerArgs
+from sglang.srt.server_args import PortArgs, ServerArgs
 from sglang.srt.utils import (
     API_KEY_HEADER_NAME,
     APIKeyValidatorMiddleware,
     allocate_init_ports,
     assert_pkg_version,
     enable_show_time_cost,
-    receive_addrs,
-    send_addrs_to_rank_0,
 )
 from sglang.utils import get_exception_traceback
 
@@ -98,6 +96,7 @@ async def flush_cache():
 
 
 async def generate_request(obj: GenerateReqInput, request: Request):
+    """Handle a generate request."""
     if obj.stream:
 
         async def stream_results():
@@ -146,7 +145,10 @@ def _set_global_server_args(server_args: ServerArgs):
     }
 
 
-def launch_server(server_args: ServerArgs, pipe_finish_writer, model_overide_args=None):
+def launch_server(server_args: ServerArgs,
+                  model_overide_args: Optional[dict] = None,
+                  pipe_finish_writer: Optional[mp.connection.Connection] = None):
+    """Launch an HTTP server."""
     global tokenizer_manager
 
     logging.basicConfig(
@@ -173,39 +175,23 @@ def launch_server(server_args: ServerArgs, pipe_finish_writer, model_overide_arg
     if server_args.chat_template:
         # TODO: replace this with huggingface transformers template
         load_chat_template_for_openai_api(server_args.chat_template)
-
     _set_global_server_args(server_args)
 
     # Allocate ports
-    assert server_args.tp_size % server_args.nnodes == 0
-    tp_size_local = server_args.tp_size // server_args.nnodes
     server_args.port, server_args.additional_ports = allocate_init_ports(
         server_args.port,
         server_args.additional_ports,
-        tp_size_local,
         server_args.dp_size,
     )
-
     ports = server_args.additional_ports
-    model_port_args = []
-    for i in range(server_args.dp_size):
-        model_port_args.append(
-            ModelPortArgs(
-                nccl_port=ports[3 + i * (tp_size_local + 1)],
-                model_tp_ips=[None] * tp_size_local,
-                model_tp_ports=ports[
-                    3 + i * (tp_size_local + 1) + 1 : 3 + (i + 1) * (tp_size_local + 1)
-                ],
-            )
-        )
     port_args = PortArgs(
         tokenizer_port=ports[0],
-        router_port=ports[1],
+        controller_port=ports[1],
         detokenizer_port=ports[2],
-        model_port_args=model_port_args,
+        nccl_ports=ports[3:],
     )
 
-    # Handle multi-node tp
+    # Handle multi-node tensor parallelism
     if server_args.nnodes > 1:
         assert server_args.dp_size == 1, "Multi-node dp is not supported."
 
@@ -224,7 +210,7 @@ def launch_server(server_args: ServerArgs, pipe_finish_writer, model_overide_arg
                 gpu_ids,
                 tp_rank_range,
                 server_args,
-                port_args.model_port_args[0],
+                ports[3],
                 model_overide_args,
             )
             while True:
@@ -232,18 +218,18 @@ def launch_server(server_args: ServerArgs, pipe_finish_writer, model_overide_arg
 
     # Launch processes
     tokenizer_manager = TokenizerManager(server_args, port_args, model_overide_args)
-    pipe_router_reader, pipe_router_writer = mp.Pipe(duplex=False)
+    pipe_controller_reader, pipe_controller_writer = mp.Pipe(duplex=False)
     pipe_detoken_reader, pipe_detoken_writer = mp.Pipe(duplex=False)
 
     if server_args.dp_size == 1:
         start_process = start_controller_process_single
     else:
         start_process = start_controller_process_multi
-    proc_router = mp.Process(
+    proc_controller = mp.Process(
         target=start_process,
-        args=(server_args, port_args, pipe_router_writer, model_overide_args),
+        args=(server_args, port_args, pipe_controller_writer, model_overide_args),
     )
-    proc_router.start()
+    proc_controller.start()
     proc_detoken = mp.Process(
         target=start_detokenizer_process,
         args=(
@@ -255,68 +241,27 @@ def launch_server(server_args: ServerArgs, pipe_finish_writer, model_overide_arg
     proc_detoken.start()
 
     # Wait for the model to finish loading
-    router_init_state = pipe_router_reader.recv()
+    controller_init_state = pipe_controller_reader.recv()
     detoken_init_state = pipe_detoken_reader.recv()
 
-    if router_init_state != "init ok" or detoken_init_state != "init ok":
-        proc_router.kill()
+    if controller_init_state != "init ok" or detoken_init_state != "init ok":
+        proc_controller.kill()
         proc_detoken.kill()
         print(
-            f"Initialization failed. router_init_state: {router_init_state}", flush=True
+            f"Initialization failed. controller_init_state: {controller_init_state}", flush=True
         )
         print(
             f"Initialization failed. detoken_init_state: {detoken_init_state}",
             flush=True,
         )
         sys.exit(1)
-    assert proc_router.is_alive() and proc_detoken.is_alive()
+    assert proc_controller.is_alive() and proc_detoken.is_alive()
 
     if server_args.api_key and server_args.api_key != "":
         app.add_middleware(APIKeyValidatorMiddleware, api_key=server_args.api_key)
 
     # Send a warmup request
-    def _wait_and_warmup():
-        headers = {}
-        url = server_args.url()
-        if server_args.api_key:
-            headers[API_KEY_HEADER_NAME] = server_args.api_key
-
-        # Wait until the server is launched
-        for _ in range(120):
-            time.sleep(0.5)
-            try:
-                requests.get(url + "/get_model_info", timeout=5, headers=headers)
-                break
-            except requests.exceptions.RequestException:
-                pass
-
-        # Send a warmup request
-        try:
-            for _ in range(server_args.dp_size):
-                res = requests.post(
-                    url + "/generate",
-                    json={
-                        "text": "The capital city of France is",
-                        "sampling_params": {
-                            "temperature": 0,
-                            "max_new_tokens": 8,
-                        },
-                    },
-                    headers=headers,
-                    timeout=600,
-                )
-                assert res.status_code == 200
-        except Exception as e:
-            if pipe_finish_writer is not None:
-                pipe_finish_writer.send(get_exception_traceback())
-            print(f"Initialization failed. warmup error: {e}", flush=True)
-            raise e
-
-        logger.info("The server is fired up and ready to roll!")
-        if pipe_finish_writer is not None:
-            pipe_finish_writer.send("init ok")
-
-    t = threading.Thread(target=_wait_and_warmup)
+    t = threading.Thread(target=_wait_and_warmup, args=(server_args, pipe_finish_writer))
     t.start()
 
     # Listen for requests
@@ -333,6 +278,48 @@ def launch_server(server_args: ServerArgs, pipe_finish_writer, model_overide_arg
         t.join()
 
 
+def _wait_and_warmup(server_args, pipe_finish_writer):
+    headers = {}
+    url = server_args.url()
+    if server_args.api_key:
+        headers[API_KEY_HEADER_NAME] = server_args.api_key
+
+    # Wait until the server is launched
+    for _ in range(120):
+        time.sleep(0.5)
+        try:
+            requests.get(url + "/get_model_info", timeout=5, headers=headers)
+            break
+        except requests.exceptions.RequestException:
+            pass
+
+    # Send a warmup request
+    try:
+        for _ in range(server_args.dp_size):
+            res = requests.post(
+                url + "/generate",
+                json={
+                    "text": "The capital city of France is",
+                    "sampling_params": {
+                        "temperature": 0,
+                        "max_new_tokens": 8,
+                    },
+                },
+                headers=headers,
+                timeout=600,
+            )
+            assert res.status_code == 200
+    except Exception as e:
+        if pipe_finish_writer is not None:
+            pipe_finish_writer.send(get_exception_traceback())
+        print(f"Initialization failed. warmup error: {e}", flush=True)
+        raise e
+
+    logger.info("The server is fired up and ready to roll!")
+    if pipe_finish_writer is not None:
+        pipe_finish_writer.send("init ok")
+
+
 class Runtime:
     """
     A wrapper for the server.
@@ -354,7 +341,6 @@ class Runtime:
         self.server_args.port, self.server_args.additional_ports = allocate_init_ports(
             self.server_args.port,
             self.server_args.additional_ports,
-            self.server_args.tp_size,
             self.server_args.dp_size,
         )
 
@@ -367,7 +353,7 @@ class Runtime:
         pipe_reader, pipe_writer = mp.Pipe(duplex=False)
         proc = mp.Process(
             target=launch_server,
-            args=(self.server_args, pipe_writer, model_overide_args),
+            args=(self.server_args, model_overide_args, pipe_writer),
         )
         proc.start()
         pipe_writer.close()
diff --git a/python/sglang/srt/server_args.py b/python/sglang/srt/server_args.py
index b4f79c066..7c0317fc0 100644
--- a/python/sglang/srt/server_args.py
+++ b/python/sglang/srt/server_args.py
@@ -337,16 +337,9 @@ class ServerArgs:
         )
 
 
-@dataclasses.dataclass
-class ModelPortArgs:
-    nccl_port: int
-    model_tp_ips: List[str]
-    model_tp_ports: List[int]
-
-
 @dataclasses.dataclass
 class PortArgs:
     tokenizer_port: int
-    router_port: int
+    controller_port: int
     detokenizer_port: int
-    model_port_args: List[ModelPortArgs]
+    nccl_ports: List[int]
diff --git a/python/sglang/srt/utils.py b/python/sglang/srt/utils.py
index 981b5e218..66f051ea7 100644
--- a/python/sglang/srt/utils.py
+++ b/python/sglang/srt/utils.py
@@ -3,7 +3,6 @@
 import base64
 import fcntl
 import logging
-import multiprocessing
 import os
 import random
 import socket
@@ -16,12 +15,10 @@ from typing import List, Optional
 import numpy as np
 import psutil
 import requests
-import rpyc
 import torch
 import triton
 from fastapi.responses import JSONResponse
 from packaging import version as pkg_version
-from rpyc.utils.server import ThreadedServer
 from starlette.middleware.base import BaseHTTPMiddleware
 
 logger = logging.getLogger(__name__)
@@ -148,7 +145,6 @@ def is_port_available(port):
 def allocate_init_ports(
     port: Optional[int] = None,
     additional_ports: Optional[List[int]] = None,
-    tp_size: int = 1,
     dp_size: int = 1,
 ):
     """Allocate ports for all connections."""
@@ -160,8 +156,8 @@ def allocate_init_ports(
     ret_ports = list(set(x for x in ret_ports if is_port_available(x)))
     cur_port = ret_ports[-1] + 1 if len(ret_ports) > 0 else 10000
 
-    # HTTP + Tokenizer + Controller + Detokenizer + dp_size * (nccl + tp_size)
-    num_ports_needed = 4 + dp_size * (1 + tp_size)
+    # HTTP + Tokenizer + Controller + Detokenizer + dp_size * 1 (nccl)
+    num_ports_needed = 4 + dp_size
     while len(ret_ports) < num_ports_needed:
         if cur_port not in ret_ports and is_port_available(cur_port):
             ret_ports.append(cur_port)
@@ -371,49 +367,6 @@ def load_image(image_file):
     return image, image_size
 
 
-def connect_rpyc_service(host, port):
-    repeat_count = 0
-    while repeat_count < 20:
-        try:
-            con = rpyc.connect(
-                host,
-                port,
-                config={
-                    "allow_public_attrs": True,
-                    "allow_pickle": True,
-                    "sync_request_timeout": 3600,
-                },
-            )
-            break
-        except ConnectionRefusedError as e:
-            time.sleep(1)
-        repeat_count += 1
-    if repeat_count == 20:
-        raise RuntimeError(f"Connect rpyc error: {e}")
-
-    return con.root
-
-
-def start_rpyc_service(service: rpyc.Service, port: int):
-    t = ThreadedServer(
-        service=service,
-        port=port,
-        protocol_config={
-            "allow_public_attrs": True,
-            "allow_pickle": True,
-            "sync_request_timeout": 3600,
-        },
-    )
-    t.logger.setLevel(logging.WARN)
-    t.start()
-
-
-def start_rpyc_service_process(service: rpyc.Service, port: int):
-    proc = multiprocessing.Process(target=start_rpyc_service, args=(service, port))
-    proc.start()
-    return proc
-
-
 def suppress_other_loggers():
     from vllm.logger import logger as vllm_default_logger