diff --git a/backend/src/v2/compiler/argocompiler/dag.go b/backend/src/v2/compiler/argocompiler/dag.go
index aea49b73541..7c997ee61d4 100644
--- a/backend/src/v2/compiler/argocompiler/dag.go
+++ b/backend/src/v2/compiler/argocompiler/dag.go
@@ -265,29 +265,11 @@ func (c *workflowCompiler) iteratorTask(name string, task *pipelinespec.Pipeline
 		}
 	}()
 	componentName := task.GetComponentRef().GetName()
-	componentSpecPlaceholder, err := c.useComponentSpec(componentName)
-	if err != nil {
-		return nil, err
-	}
-
 	// Set up Loop Control Template
-	loopDriverArgoName := name + "-loop-driver"
-	loopDriverInputs := dagDriverInputs{
-		component:   componentSpecPlaceholder,
-		parentDagID: parentDagID,
-		task:        taskJson, // TODO(Bobgy): avoid duplicating task JSON twice in the template.
-	}
-	loopDriver, loopDriverOutputs, err := c.dagDriverTask(loopDriverArgoName, loopDriverInputs)
-	if err != nil {
-		return nil, err
-	}
-	loopDriver.Depends = depends(task.GetDependentTasks())
-
 	iteratorTasks, err := c.iterationItemTask("iteration", task, taskJson, parentDagID)
 	if err != nil {
 		return nil, err
 	}
-
 	loopTmpl := &wfapi.Template{
 		Inputs: wfapi.Inputs{
 			Parameters: []wfapi.Parameter{
@@ -303,22 +285,16 @@ func (c *workflowCompiler) iteratorTask(name string, task *pipelinespec.Pipeline
 		loopTmpl.Parallelism = &parallelismLimit
 	}
 
-	loopTmplName, err := c.addTemplate(loopTmpl, fmt.Sprintf("%s-loop-iterator", componentName))
+	loopTmplName, err := c.addTemplate(loopTmpl, fmt.Sprintf("%s-%s-iterator", componentName, name))
 	if err != nil {
 		return nil, err
 	}
-	when := ""
-	if task.GetTriggerPolicy().GetCondition() != "" {
-		when = loopDriverOutputs.condition + " != false"
-	}
 
 	tasks = []wfapi.DAGTask{
-		*loopDriver,
 		{
 			Name:     name + "-loop",
 			Template: loopTmplName,
-			Depends:  depends([]string{loopDriverArgoName}),
-			When:     when,
+			Depends:  depends(task.GetDependentTasks()),
 			Arguments: wfapi.Arguments{
 				Parameters: []wfapi.Parameter{
 					{
@@ -379,7 +355,7 @@ func (c *workflowCompiler) iterationItemTask(name string, task *pipelinespec.Pip
 			Tasks: iterationTasks,
 		},
 	}
-	iterationsTmplName, err := c.addTemplate(iterationsTmpl, componentName+"-iteration")
+	iterationsTmplName, err := c.addTemplate(iterationsTmpl, componentName+"-"+name)
 	if err != nil {
 		return nil, err
 	}
diff --git a/backend/src/v2/compiler/argocompiler/testdata/multiple_parallel_loops.yaml b/backend/src/v2/compiler/argocompiler/testdata/multiple_parallel_loops.yaml
index c7191f52bae..738762f8077 100755
--- a/backend/src/v2/compiler/argocompiler/testdata/multiple_parallel_loops.yaml
+++ b/backend/src/v2/compiler/argocompiler/testdata/multiple_parallel_loops.yaml
@@ -430,7 +430,7 @@ spec:
       parameters:
       - name: parent-dag-id
     metadata: {}
-    name: comp-for-loop-2-loop-iterator
+    name: comp-for-loop-2-for-loop-2-iterator
     outputs: {}
     parallelism: 2
   - dag:
@@ -500,55 +500,25 @@ spec:
       parameters:
       - name: parent-dag-id
     metadata: {}
-    name: comp-for-loop-4-loop-iterator
+    name: comp-for-loop-4-for-loop-4-iterator
     outputs: {}
     parallelism: 4
   - dag:
       tasks:
-      - arguments:
-          parameters:
-          - name: component
-            value: '{{workflow.parameters.components-comp-for-loop-2}}'
-          - name: parent-dag-id
-            value: '{{inputs.parameters.parent-dag-id}}'
-          - name: task
-            value: '{"componentRef":{"name":"comp-for-loop-2"},"iteratorPolicy":{"parallelismLimit":2},"parameterIterator":{"itemInput":"pipelinechannel--loop-item-param-1","items":{"raw":"[{\"A_a\":
-              \"1\", \"B_b\": \"10\"}, {\"A_a\": \"2\", \"B_b\": \"20\"}, {\"A_a\":
-              \"3\", \"B_b\": \"30\"}, {\"A_a\": \"4\", \"B_b\": \"40\"}, {\"A_a\":
-              \"5\", \"B_b\": \"50\"}, {\"A_a\": \"6\", \"B_b\": \"60\"}, {\"A_a\":
-              \"7\", \"B_b\": \"70\"}, {\"A_a\": \"8\", \"B_b\": \"80\"}, {\"A_a\":
-              \"9\", \"B_b\": \"90\"}, {\"A_a\": \"10\", \"B_b\": \"100\"}]"}},"taskInfo":{"name":"foo"}}'
-        name: for-loop-2-loop-driver
-        template: system-dag-driver
       - arguments:
           parameters:
           - name: parent-dag-id
             value: '{{inputs.parameters.parent-dag-id}}'
-        depends: for-loop-2-loop-driver.Succeeded
+        depends: ""
         name: for-loop-2-loop
-        template: comp-for-loop-2-loop-iterator
-      - arguments:
-          parameters:
-          - name: component
-            value: '{{workflow.parameters.components-comp-for-loop-4}}'
-          - name: parent-dag-id
-            value: '{{inputs.parameters.parent-dag-id}}'
-          - name: task
-            value: '{"componentRef":{"name":"comp-for-loop-4"},"iteratorPolicy":{"parallelismLimit":4},"parameterIterator":{"itemInput":"pipelinechannel--loop-item-param-3","items":{"raw":"[{\"A_a\":
-              \"1\", \"B_b\": \"10\"}, {\"A_a\": \"2\", \"B_b\": \"20\"}, {\"A_a\":
-              \"3\", \"B_b\": \"30\"}, {\"A_a\": \"4\", \"B_b\": \"40\"}, {\"A_a\":
-              \"5\", \"B_b\": \"50\"}, {\"A_a\": \"6\", \"B_b\": \"60\"}, {\"A_a\":
-              \"7\", \"B_b\": \"70\"}, {\"A_a\": \"8\", \"B_b\": \"80\"}, {\"A_a\":
-              \"9\", \"B_b\": \"90\"}, {\"A_a\": \"10\", \"B_b\": \"100\"}]"}},"taskInfo":{"name":"bar"}}'
-        name: for-loop-4-loop-driver
-        template: system-dag-driver
+        template: comp-for-loop-2-for-loop-2-iterator
       - arguments:
           parameters:
           - name: parent-dag-id
             value: '{{inputs.parameters.parent-dag-id}}'
-        depends: for-loop-4-loop-driver.Succeeded
+        depends: ""
         name: for-loop-4-loop
-        template: comp-for-loop-4-loop-iterator
+        template: comp-for-loop-4-for-loop-4-iterator
     inputs:
       parameters:
       - name: parent-dag-id