diff --git a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_problem.h b/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_problem.h
deleted file mode 100644
index b6ca8d6313..0000000000
--- a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_problem.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/**
- * @file task_composer_problem.h
- * @brief A task composer server problem
- *
- * @author Levi Armstrong
- * @date August 18, 2020
- * @version TODO
- * @bug No known bugs
- *
- * @copyright Copyright (c) 2020, Southwest Research Institute
- *
- * @par License
- * Software License Agreement (Apache License)
- * @par
- * 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
- * @par
- * 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.
- */
-#ifndef TESSERACT_TASK_COMPOSER_TASK_COMPOSER_PROBLEM_H
-#define TESSERACT_TASK_COMPOSER_TASK_COMPOSER_PROBLEM_H
-
-#include <tesseract_common/macros.h>
-TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <memory>
-#include <boost/serialization/access.hpp>
-#include <boost/serialization/export.hpp>
-TESSERACT_COMMON_IGNORE_WARNINGS_POP
-
-#include <tesseract_common/fwd.h>
-#include <tesseract_common/any_poly.h>
-
-namespace tesseract_planning
-{
-struct TaskComposerProblem
-{
-  using Ptr = std::shared_ptr<TaskComposerProblem>;
-  using ConstPtr = std::shared_ptr<const TaskComposerProblem>;
-  using UPtr = std::unique_ptr<TaskComposerProblem>;
-  using ConstUPtr = std::unique_ptr<const TaskComposerProblem>;
-
-  TaskComposerProblem(std::string name = "unset", bool dotgraph = false);
-
-  TaskComposerProblem(const TaskComposerProblem&) = default;
-  TaskComposerProblem& operator=(const TaskComposerProblem&) = default;
-  TaskComposerProblem(TaskComposerProblem&&) = default;
-  TaskComposerProblem& operator=(TaskComposerProblem&&) = default;
-  virtual ~TaskComposerProblem() = default;
-
-  /** @brief The name of the task to be ran for this problem */
-  std::string name;
-
-  /** @brief Indicate if dotgraph should be provided */
-  bool dotgraph{ false };
-
-  /** @brief The problem input */
-  tesseract_common::AnyPoly input;
-
-  /**
-   * @brief Clone the planning problem
-   * @return A clone of the planning problem
-   */
-  virtual TaskComposerProblem::UPtr clone() const;
-
-  bool operator==(const TaskComposerProblem& rhs) const;
-  bool operator!=(const TaskComposerProblem& rhs) const;
-
-protected:
-  friend struct tesseract_common::Serialization;
-  friend class boost::serialization::access;
-
-  template <class Archive>
-  void serialize(Archive& ar, const unsigned int version);  // NOLINT
-};
-}  // namespace tesseract_planning
-
-BOOST_CLASS_EXPORT_KEY2(tesseract_planning::TaskComposerProblem, "TaskComposerProblem")
-
-#endif  // TESSERACT_TASK_COMPOSER_TASK_COMPOSER_PROBLEM_H
diff --git a/tesseract_task_composer/core/src/task_composer_graph.cpp b/tesseract_task_composer/core/src/task_composer_graph.cpp
index e20cdd3040..bf4f09c508 100644
--- a/tesseract_task_composer/core/src/task_composer_graph.cpp
+++ b/tesseract_task_composer/core/src/task_composer_graph.cpp
@@ -35,6 +35,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <yaml-cpp/yaml.h>
 #include <tesseract_common/serialization.h>
 #include <tesseract_common/plugin_info.h>
+#include <tesseract_common/yaml_utils.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_graph.h>
@@ -70,6 +71,10 @@ TaskComposerGraph::TaskComposerGraph(std::string name,
                                      const TaskComposerPluginFactory& plugin_factory)
   : TaskComposerNode(std::move(name), type, TaskComposerNodePorts{}, config)
 {
+  static const std::set<std::string> graph_expected_keys{ "conditional", "inputs", "outputs",
+                                                          "nodes",       "edges",  "terminals" };
+  tesseract_common::checkForUnknownKeys(config, graph_expected_keys);
+
   std::unordered_map<std::string, boost::uuids::uuid> node_uuids;
   YAML::Node nodes = config["nodes"];
   if (!nodes.IsMap())
@@ -77,6 +82,9 @@ TaskComposerGraph::TaskComposerGraph(std::string name,
 
   for (auto node_it = nodes.begin(); node_it != nodes.end(); ++node_it)
   {
+    static const std::set<std::string> nodes_expected_keys{ "class", "task", "config" };
+    tesseract_common::checkForUnknownKeys(node_it->second, nodes_expected_keys);
+
     auto node_name = node_it->first.as<std::string>();
     if (YAML::Node fn = node_it->second["class"])
     {
@@ -103,6 +111,9 @@ TaskComposerGraph::TaskComposerGraph(std::string name,
 
       if (YAML::Node tc = node_it->second["config"])
       {
+        static const std::set<std::string> tasks_expected_keys{ "conditional", "abort_terminal", "remapping" };
+        tesseract_common::checkForUnknownKeys(tc, tasks_expected_keys);
+
         if (YAML::Node n = tc["conditional"])
           task_node->setConditional(n.as<bool>());
 
@@ -115,12 +126,6 @@ TaskComposerGraph::TaskComposerGraph(std::string name,
             throw std::runtime_error("YAML entry 'abort_terminal' is only supported for GRAPH and PIPELINE types");
         }
 
-        if (tc["input_remapping"])  // NOLINT
-          throw std::runtime_error("TaskComposerGraph, input_remapping is no longer supported use 'remapping'");
-
-        if (tc["output_remapping"])  // NOLINT
-          throw std::runtime_error("TaskComposerGraph, output_remapping is no longer supported use 'remapping'");
-
         if (YAML::Node n = tc["remapping"])
         {
           auto remapping = n.as<std::map<std::string, std::string>>();