diff --git a/dimos/robot/all_blueprints.py b/dimos/robot/all_blueprints.py
index 6fbf0138bb..0f9ce19dd7 100644
--- a/dimos/robot/all_blueprints.py
+++ b/dimos/robot/all_blueprints.py
@@ -73,6 +73,7 @@
     "openarm-planner-coordinator": "dimos.robot.manipulators.openarm.blueprints:openarm_planner_coordinator",
     "teleop-phone": "dimos.teleop.phone.blueprints:teleop_phone",
     "teleop-phone-go2": "dimos.teleop.phone.blueprints:teleop_phone_go2",
+    "teleop-phone-go2-agentic": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic_phone:teleop_phone_go2_agentic",
     "teleop-phone-go2-fleet": "dimos.teleop.phone.blueprints:teleop_phone_go2_fleet",
     "teleop-quest-dual": "dimos.teleop.quest.blueprints:teleop_quest_dual",
     "teleop-quest-piper": "dimos.teleop.quest.blueprints:teleop_quest_piper",
diff --git a/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_phone.py b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_phone.py
new file mode 100644
index 0000000000..1605707a0b
--- /dev/null
+++ b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_phone.py
@@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+from dimos.core.coordination.blueprints import autoconnect
+from dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic import unitree_go2_agentic
+from dimos.teleop.phone.phone_extensions import SimplePhoneTeleop
+
+teleop_phone_go2_agentic = autoconnect(
+    SimplePhoneTeleop.blueprint(),
+    unitree_go2_agentic,
+).remappings(
+    [
+        (SimplePhoneTeleop, "cmd_vel", "tele_cmd_vel"),
+    ]
+)
+
+__all__ = ["teleop_phone_go2_agentic"]
diff --git a/dimos/teleop/phone/README.md b/dimos/teleop/phone/README.md
index da84bfd124..aacd8a4eff 100644
--- a/dimos/teleop/phone/README.md
+++ b/dimos/teleop/phone/README.md
@@ -13,11 +13,21 @@ Phone Browser  ──WebSocket──→  Embedded HTTPS Server  ──→  Phone
 
 ```bash
 dimos run teleop-phone-go2     # Go2
+dimos run teleop-phone-go2-agentic  # Go2 agentic stack with phone override
 dimos run teleop-phone         # Generic ground robot
 ```
 
 Open `https://<host-ip>:8444/teleop` on phone. Accept cert, allow sensors, connect, hold to drive.
 
+## Agentic Go2 Override
+
+`teleop-phone-go2-agentic` adds the phone controller to the full agentic Go2
+stack. Phone commands are remapped into `MovementManager.tele_cmd_vel`, so
+holding the phone teleop button cancels active navigation goals and temporarily
+takes over velocity control. Release the button to stop sending manual commands
+and allow autonomous navigation commands to resume after the movement manager's
+teleop cooldown.
+
 ## Subclassing
 
 | Method | Purpose |
diff --git a/pyproject.toml b/pyproject.toml
index 39db0c1b7c..92616928e4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -212,6 +212,7 @@ agents = [
 
 web = [
     "fastapi>=0.115.6",
+    "python-multipart>=0.0.27",
     "sse-starlette>=2.2.1",
     "uvicorn>=0.34.0",
     "jinja2>=3.1.6",
diff --git a/uv.lock b/uv.lock
index b4da9cadaf..f6d30cfc75 100644
--- a/uv.lock
+++ b/uv.lock
@@ -40,7 +40,7 @@ resolution-markers = [
 ]
 
 [options]
-exclude-newer = "0001-01-01T00:00:00Z" # This has no effect and is included for backwards compatibility when using relative exclude-newer values.
+exclude-newer = "2026-05-21T12:08:30.150078Z"
 exclude-newer-span = "P7D"
 
 [options.exclude-newer-package]
@@ -2028,6 +2028,7 @@ base = [
     { name = "omegaconf" },
     { name = "openai" },
     { name = "pillow" },
+    { name = "python-multipart" },
     { name = "rerun-sdk" },
     { name = "sounddevice" },
     { name = "soundfile" },
@@ -2159,6 +2160,7 @@ unitree = [
     { name = "omegaconf" },
     { name = "openai" },
     { name = "pillow" },
+    { name = "python-multipart" },
     { name = "rerun-sdk" },
     { name = "sounddevice" },
     { name = "soundfile" },
@@ -2192,6 +2194,7 @@ unitree-dds = [
     { name = "omegaconf" },
     { name = "openai" },
     { name = "pillow" },
+    { name = "python-multipart" },
     { name = "rerun-sdk" },
     { name = "sounddevice" },
     { name = "soundfile" },
@@ -2210,6 +2213,7 @@ web = [
     { name = "fastapi" },
     { name = "ffmpeg-python" },
     { name = "jinja2" },
+    { name = "python-multipart" },
     { name = "soundfile" },
     { name = "sse-starlette" },
     { name = "uvicorn" },
@@ -2457,6 +2461,7 @@ requires-dist = [
     { name = "pyrealsense2", marker = "sys_platform != 'darwin' and extra == 'manipulation'" },
     { name = "python-dotenv" },
     { name = "python-multipart", marker = "extra == 'misc'", specifier = ">=0.0.27" },
+    { name = "python-multipart", marker = "extra == 'web'", specifier = ">=0.0.27" },
     { name = "pyturbojpeg", specifier = "==1.8.2" },
     { name = "pyturbojpeg", marker = "extra == 'docker'" },
     { name = "pyyaml", marker = "extra == 'manipulation'", specifier = ">=6.0" },