diff --git a/.github/actions/base-download/action.yml b/.github/actions/base-download/action.yml
index f2f49cc29f4..ce9a7d189cd 100644
--- a/.github/actions/base-download/action.yml
+++ b/.github/actions/base-download/action.yml
@@ -19,3 +19,8 @@ runs:
       uses: ishworkh/docker-image-artifact-download@v1
       with:
         image: "kserve/storage-initializer:${{ github.sha }}"
+
+    - name: Download router image
+      uses: ishworkh/docker-image-artifact-download@v1
+      with:
+        image: "kserve/router:${{ github.sha }}"
diff --git a/.github/workflows/e2e-test.yml b/.github/workflows/e2e-test.yml
index 02a77c0b165..079cc73f98d 100644
--- a/.github/workflows/e2e-test.yml
+++ b/.github/workflows/e2e-test.yml
@@ -41,6 +41,11 @@ jobs:
         with:
           image: "kserve/storage-initializer:${{ github.sha }}"
 
+      - name: Upload router image
+        uses: ishworkh/docker-image-artifact-upload@v1
+        with:
+          image: "kserve/router:${{ github.sha }}"
+
   poetry-check:
     runs-on: ubuntu-latest
     steps:
@@ -110,7 +115,7 @@ jobs:
         uses: ishworkh/docker-image-artifact-upload@v1
         with:
           image: "kserve/custom-image-transformer-grpc:${{ github.sha }}"
-  
+
   explainer-runtime-build:
     runs-on: ubuntu-latest
     needs: [poetry-check]
@@ -133,9 +138,33 @@ jobs:
         with:
           image: "kserve/art-explainer:${{ github.sha }}"
 
+  graph-tests-images-build:
+    runs-on: ubuntu-latest
+    needs: [ poetry-check ]
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Free-up disk space
+        uses: ./.github/actions/free-up-disk-space
+
+      - name: Build test images needed for graph tests
+        run: |
+          ./test/scripts/gh-actions/build-graph-tests-images.sh
+          docker image ls
+
+      - name: Upload success_200_isvc predictor image
+        uses: ishworkh/docker-image-artifact-upload@v1
+        with:
+          image: "kserve/success-200-isvc:${{ github.sha }}"
+
+      - name: Upload error_404_isvc predictor image
+        uses: ishworkh/docker-image-artifact-upload@v1
+        with:
+          image: "kserve/error-404-isvc:${{ github.sha }}"
+
   test-fast:
     runs-on: ubuntu-latest
-    needs: [kserve-image-build, predictor-runtime-build, explainer-runtime-build]
+    needs: [kserve-image-build, predictor-runtime-build, explainer-runtime-build, graph-tests-images-build]
     steps:
       - name: Checkout
         uses: actions/checkout@v3
@@ -187,6 +216,16 @@ jobs:
         with:
           image: "kserve/image-transformer:${{ github.sha }}"
 
+      - name: Download success_200_isvc predictor image
+        uses: ishworkh/docker-image-artifact-download@v1
+        with:
+          image: "kserve/success-200-isvc:${{ github.sha }}"
+
+      - name: Download error_404_isvc predictor image
+        uses: ishworkh/docker-image-artifact-download@v1
+        with:
+          image: "kserve/error-404-isvc:${{ github.sha }}"
+
       - name: Install Poetry and version plugin
         run: ./test/scripts/gh-actions/setup-poetry.sh
 
@@ -197,13 +236,100 @@ jobs:
           kubectl get pods -n kserve
           kubectl describe pods -n kserve
 
-      - name: Run E2E tests
+      - name: Run all E2E tests except graph
         timeout-minutes: 60
         run: |
-          ./test/scripts/gh-actions/run-e2e-tests.sh "fast or pmml or graph"
+          ./test/scripts/gh-actions/run-e2e-tests.sh "fast or pmml"
 
           kubectl get pods -n kserve
 
+      - name: Run E2E tests for graph
+        timeout-minutes: 120
+        run: |
+          ./test/scripts/gh-actions/run-e2e-tests.sh "graph" "2"
+
+          kubectl get pods -n kserve
+
+      - name: Check system status
+        if: always()
+        run: |
+          ./test/scripts/gh-actions/status-check.sh
+
+
+  test-path-based-routing:
+    runs-on: ubuntu-latest
+    needs: [ kserve-image-build, predictor-runtime-build, explainer-runtime-build, graph-tests-images-build ]
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Setup Go
+        uses: actions/setup-go@v4
+        with:
+          go-version: '1.20'
+
+      - name: Setup Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: '3.9'
+
+      - name: Free-up disk space
+        uses: ./.github/actions/free-up-disk-space
+
+      - name: Setup Minikube
+        uses: ./.github/actions/minikube-setup
+
+      - name: Download base images
+        uses: ./.github/actions/base-download
+
+      - name: KServe dependency setup
+        uses: ./.github/actions/kserve-dep-setup
+
+      - name: Download sklearn server image
+        uses: ishworkh/docker-image-artifact-download@v1
+        with:
+          image: "kserve/sklearnserver:${{ github.sha }}"
+
+      - name: Download xgb server image
+        uses: ishworkh/docker-image-artifact-download@v1
+        with:
+          image: "kserve/xgbserver:${{ github.sha }}"
+
+      - name: Download lgb server image
+        uses: ishworkh/docker-image-artifact-download@v1
+        with:
+          image: "kserve/lgbserver:${{ github.sha }}"
+
+      - name: Download pmml image
+        uses: ishworkh/docker-image-artifact-download@v1
+        with:
+          image: "kserve/pmmlserver:${{ github.sha }}"
+
+      - name: Download transformer image
+        uses: ishworkh/docker-image-artifact-download@v1
+        with:
+          image: "kserve/image-transformer:${{ github.sha }}"
+
+      - name: Download success_200_isvc predictor image
+        uses: ishworkh/docker-image-artifact-download@v1
+        with:
+          image: "kserve/success-200-isvc:${{ github.sha }}"
+
+      - name: Download error_404_isvc predictor image
+        uses: ishworkh/docker-image-artifact-download@v1
+        with:
+          image: "kserve/error-404-isvc:${{ github.sha }}"
+
+      - name: Install Poetry and version plugin
+        run: ./test/scripts/gh-actions/setup-poetry.sh
+
+      - name: Install KServe
+        run: |
+          ./test/scripts/gh-actions/setup-kserve.sh
+
+          kubectl get pods -n kserve
+          kubectl describe pods -n kserve
+
       - name: Patch inferenceservice config
         run : |
           kubectl patch configmaps -n kserve inferenceservice-config --patch-file config/overlays/test/configmap/inferenceservice-ingress.yaml
@@ -587,7 +713,7 @@ jobs:
 
   test-kourier:
     runs-on: ubuntu-latest
-    needs: [kserve-image-build, predictor-runtime-build]
+    needs: [kserve-image-build, predictor-runtime-build, graph-tests-images-build]
     steps:
       - uses: actions/checkout@v2
       - uses: actions/setup-go@v2
@@ -614,6 +740,16 @@ jobs:
         with:
           image: "kserve/xgbserver:${{ github.sha }}"
 
+      - name: Download success_200_isvc predictor image
+        uses: ishworkh/docker-image-artifact-download@v1
+        with:
+          image: "kserve/success-200-isvc:${{ github.sha }}"
+
+      - name: Download error_404_isvc predictor image
+        uses: ishworkh/docker-image-artifact-download@v1
+        with:
+          image: "kserve/error-404-isvc:${{ github.sha }}"
+
       - name: Install Poetry and version plugin
         run: ./test/scripts/gh-actions/setup-poetry.sh
 
@@ -630,7 +766,7 @@ jobs:
           kubectl describe configmaps -n kserve inferenceservice-config
 
       - name: Run E2E tests
-        timeout-minutes: 25
+        timeout-minutes: 120
         run: |
           export KSERVE_INGRESS_HOST_PORT=$(kubectl get pod -n knative-serving -l "app=3scale-kourier-gateway" \
           --output=jsonpath="{.items[0].status.podIP}"):$(kubectl get pod -n knative-serving -l "app=3scale-kourier-gateway" \
diff --git a/Makefile b/Makefile
index f306cabf5bc..6492f4b782a 100644
--- a/Makefile
+++ b/Makefile
@@ -26,6 +26,8 @@ CRD_OPTIONS ?= "crd:maxDescLen=0"
 KSERVE_ENABLE_SELF_SIGNED_CA ?= false
 # ENVTEST_K8S_VERSION refers to the version of kubebuilder assets to be downloaded by envtest binary.
 ENVTEST_K8S_VERSION = 1.26
+SUCCESS_200_ISVC_IMG ?= success-200-isvc
+ERROR_404_ISVC_IMG ?= error-404-isvc
 
 ## Location to install dependencies to
 LOCALBIN ?= $(shell pwd)/bin
@@ -298,6 +300,18 @@ docker-build-qpext:
 docker-build-push-qpext: docker-build-qpext
 	docker push ${KO_DOCKER_REPO}/${QPEXT_IMG}
 
+docker-build-success-200-isvc:
+	cd python && docker buildx build -t ${KO_DOCKER_REPO}/${SUCCESS_200_ISVC_IMG} -f success_200_isvc.Dockerfile .
+
+docker-push-success-200-isvc: docker-build-success-200-isvc
+	docker push ${KO_DOCKER_REPO}/${SUCCESS_200_ISVC_IMG}
+
+docker-build-error-node-404:
+	cd python && docker buildx build -t ${KO_DOCKER_REPO}/${ERROR_404_ISVC_IMG} -f error_404_isvc.Dockerfile .
+
+docker-push-error-node-404: docker-build-error-node-404
+	docker push ${KO_DOCKER_REPO}/${ERROR_404_ISVC_IMG}
+
 test-qpext:
 	cd qpext && go test -v ./... -cover
 
diff --git a/cmd/router/main.go b/cmd/router/main.go
index d78411d27cf..24a96ff3392 100644
--- a/cmd/router/main.go
+++ b/cmd/router/main.go
@@ -20,6 +20,7 @@ import (
 	"bytes"
 	"encoding/json"
 	"fmt"
+	"github.com/pkg/errors"
 	"io"
 	"net/http"
 	"os"
@@ -41,7 +42,7 @@ import (
 
 var log = logf.Log.WithName("InferenceGraphRouter")
 
-func callService(serviceUrl string, input []byte, headers http.Header) ([]byte, error) {
+func callService(serviceUrl string, input []byte, headers http.Header) ([]byte, int, error) {
 	defer timeTrack(time.Now(), "step", serviceUrl)
 	log.Info("Entering callService", "url", serviceUrl)
 	req, err := http.NewRequest("POST", serviceUrl, bytes.NewBuffer(input))
@@ -56,15 +57,15 @@ func callService(serviceUrl string, input []byte, headers http.Header) ([]byte,
 	resp, err := http.DefaultClient.Do(req)
 
 	if err != nil {
-		log.Error(err, "An error has occurred from service", "service", serviceUrl)
-		return nil, err
+		log.Error(err, "An error has occurred while calling service", "service", serviceUrl)
+		return nil, 500, err
 	}
 	defer resp.Body.Close()
 	body, err := io.ReadAll(resp.Body)
 	if err != nil {
 		log.Error(err, "error while reading the response")
 	}
-	return body, err
+	return body, resp.StatusCode, err
 }
 
 func pickupRoute(routes []v1alpha1.InferenceStep) *v1alpha1.InferenceStep {
@@ -98,7 +99,12 @@ func timeTrack(start time.Time, nodeOrStep string, name string) {
 	log.Info("elapsed time", nodeOrStep, name, "time", elapsed)
 }
 
-func routeStep(nodeName string, graph v1alpha1.InferenceGraphSpec, input []byte, headers http.Header) ([]byte, error) {
+type EnsembleStepOutput struct {
+	StepResponse   map[string]interface{}
+	StepStatusCode int
+}
+
+func routeStep(nodeName string, graph v1alpha1.InferenceGraphSpec, input []byte, headers http.Header) ([]byte, int, error) {
 	defer timeTrack(time.Now(), "node", nodeName)
 	currentNode := graph.Nodes[nodeName]
 
@@ -106,25 +112,54 @@ func routeStep(nodeName string, graph v1alpha1.InferenceGraphSpec, input []byte,
 		return executeStep(pickupRoute(currentNode.Steps), graph, input, headers)
 	}
 	if currentNode.RouterType == v1alpha1.Switch {
+		var statusCode int
+		var responseBytes []byte
+		var err error
 		route := pickupRouteByCondition(input, currentNode.Steps)
 		if route == nil {
-			return input, nil //TODO maybe should fail in this case?
+			errorMessage := "None of the routes matched with the switch condition"
+			log.Error(err, errorMessage)
+			return nil, 404, errors.New(errorMessage)
 		}
-		return executeStep(route, graph, input, headers)
+		stepType := "serviceUrl"
+		if route.NodeName != "" {
+			stepType = "node"
+		}
+		log.Info("Starting execution of step", "type", stepType, "stepName", route.StepName)
+		if responseBytes, statusCode, err = executeStep(route, graph, input, headers); err != nil {
+			return nil, 500, err
+		}
+
+		if route.Dependency == v1alpha1.Hard {
+			if !isSuccessFul(statusCode) {
+				log.Info("This step is a hard dependency and it is unsuccessful", "stepName", route.StepName, "statusCode", statusCode)
+				// Stop the execution right away if step is hard dep and is unsuccessful
+				return responseBytes, statusCode, nil
+			}
+		}
+		return responseBytes, statusCode, nil
 	}
 	if currentNode.RouterType == v1alpha1.Ensemble {
-		ensembleRes := make([]chan map[string]interface{}, len(currentNode.Steps))
+		ensembleRes := make([]chan EnsembleStepOutput, len(currentNode.Steps))
 		errChan := make(chan error)
 		for i := range currentNode.Steps {
 			step := &currentNode.Steps[i]
-			resultChan := make(chan map[string]interface{})
+			stepType := "serviceUrl"
+			if step.NodeName != "" {
+				stepType = "node"
+			}
+			log.Info("Starting execution of step", "type", stepType, "stepName", step.StepName)
+			resultChan := make(chan EnsembleStepOutput)
 			ensembleRes[i] = resultChan
 			go func() {
-				output, err := executeStep(step, graph, input, headers)
+				output, statusCode, err := executeStep(step, graph, input, headers)
 				if err == nil {
 					var res map[string]interface{}
 					if err = json.Unmarshal(output, &res); err == nil {
-						resultChan <- res
+						resultChan <- EnsembleStepOutput{
+							StepResponse:   res,
+							StepStatusCode: statusCode,
+						}
 						return
 					}
 				}
@@ -133,24 +168,41 @@ func routeStep(nodeName string, graph v1alpha1.InferenceGraphSpec, input []byte,
 		}
 		// merge responses from parallel steps
 		response := map[string]interface{}{}
+		ensembleStepOutput := EnsembleStepOutput{}
 		for i, resultChan := range ensembleRes {
 			key := currentNode.Steps[i].StepName
 			if key == "" {
 				key = strconv.Itoa(i) // Use index if no step name
 			}
 			select {
-			case response[key] = <-resultChan:
+			case ensembleStepOutput = <-resultChan:
+				if !isSuccessFul(ensembleStepOutput.StepStatusCode) && currentNode.Steps[i].Dependency == v1alpha1.Hard {
+					log.Info("This step is a hard dependency and it is unsuccessful", "stepName", currentNode.Steps[i].StepName, "statusCode", ensembleStepOutput.StepStatusCode)
+					stepResponse, _ := json.Marshal(ensembleStepOutput.StepResponse) // TODO check if you need err handling for Marshalling
+					return stepResponse, ensembleStepOutput.StepStatusCode, nil      // First failed hard dependency will decide the response and response code for ensemble node
+				} else {
+					response[key] = ensembleStepOutput.StepResponse
+				}
 			case err := <-errChan:
-				return nil, err
+				return nil, 500, err
 			}
 		}
-		return json.Marshal(response)
+		//return json.Marshal(response)
+		combinedResponse, _ := json.Marshal(response) // TODO check if you need err handling for Marshalling
+		return combinedResponse, 200, nil
 	}
 	if currentNode.RouterType == v1alpha1.Sequence {
+		var statusCode int
 		var responseBytes []byte
 		var err error
 		for i := range currentNode.Steps {
 			step := &currentNode.Steps[i]
+			stepType := "serviceUrl"
+			if step.NodeName != "" {
+				stepType = "node"
+			}
+			log.Info("Starting execution of step", "type", stepType, "stepName", step.StepName)
+
 			request := input
 			if step.Data == "$response" && i > 0 {
 				request = responseBytes
@@ -158,24 +210,42 @@ func routeStep(nodeName string, graph v1alpha1.InferenceGraphSpec, input []byte,
 
 			if step.Condition != "" {
 				if !gjson.ValidBytes(responseBytes) {
-					return nil, fmt.Errorf("invalid response")
+					return nil, 500, fmt.Errorf("invalid response")
 				}
 				// if the condition does not match for the step in the sequence we stop and return the response
 				if !gjson.GetBytes(responseBytes, step.Condition).Exists() {
-					return responseBytes, nil
+					return responseBytes, 500, nil
 				}
 			}
-			if responseBytes, err = executeStep(step, graph, request, headers); err != nil {
-				return nil, err
+			if responseBytes, statusCode, err = executeStep(step, graph, request, headers); err != nil {
+				return nil, 500, err
+			}
+			/*
+				Only if a step is a hard dependency, we will check for its success.
+			*/
+			if step.Dependency == v1alpha1.Hard {
+				if !isSuccessFul(statusCode) {
+					log.Info("This step is a hard dependency and it is unsuccessful", "stepName", step.StepName, "statusCode", statusCode)
+					// Stop the execution right away if step is hard dep and is unsuccessful
+					return responseBytes, statusCode, nil
+				}
 			}
 		}
-		return responseBytes, nil
+
+		return responseBytes, statusCode, nil
 	}
 	log.Error(nil, "invalid route type", "type", currentNode.RouterType)
-	return nil, fmt.Errorf("invalid route type: %v", currentNode.RouterType)
+	return nil, 500, fmt.Errorf("invalid route type: %v", currentNode.RouterType)
+}
+
+func isSuccessFul(statusCode int) bool {
+	if statusCode >= 200 && statusCode <= 299 {
+		return true
+	}
+	return false
 }
 
-func executeStep(step *v1alpha1.InferenceStep, graph v1alpha1.InferenceGraphSpec, input []byte, headers http.Header) ([]byte, error) {
+func executeStep(step *v1alpha1.InferenceStep, graph v1alpha1.InferenceGraphSpec, input []byte, headers http.Header) ([]byte, int, error) {
 	if step.NodeName != "" {
 		// when nodeName is specified make a recursive call for routing to next step
 		return routeStep(step.NodeName, graph, input, headers)
@@ -183,19 +253,34 @@ func executeStep(step *v1alpha1.InferenceStep, graph v1alpha1.InferenceGraphSpec
 	return callService(step.ServiceURL, input, headers)
 }
 
+func prepareErrorResponse(err error, errorMessage string) []byte {
+	igRoutingErr := &InferenceGraphRoutingError{
+		errorMessage,
+		fmt.Sprintf("%v", err),
+	}
+	errorResponseBytes, err := json.Marshal(igRoutingErr)
+	if err != nil {
+		log.Error(err, "marshalling error")
+	}
+	return errorResponseBytes
+}
+
 var inferenceGraph *v1alpha1.InferenceGraphSpec
 
 func graphHandler(w http.ResponseWriter, req *http.Request) {
 	inputBytes, _ := io.ReadAll(req.Body)
-	if response, err := routeStep(v1alpha1.GraphRootNodeName, *inferenceGraph, inputBytes, req.Header); err != nil {
+	if response, statusCode, err := routeStep(v1alpha1.GraphRootNodeName, *inferenceGraph, inputBytes, req.Header); err != nil {
 		log.Error(err, "failed to process request")
-		w.WriteHeader(500) //TODO status code tbd
-		w.Write([]byte(fmt.Sprintf("Failed to process request: %v", err)))
+		w.Header().Set("Content-Type", "application/json")
+		w.WriteHeader(statusCode)
+		w.Write(prepareErrorResponse(err, "Failed to process request"))
 	} else {
 		if json.Valid(response) {
 			w.Header().Set("Content-Type", "application/json")
 		}
+		w.WriteHeader(statusCode)
 		w.Write(response)
+
 	}
 }
 
diff --git a/cmd/router/main_test.go b/cmd/router/main_test.go
index b5b99939cb8..6828b3ea2c5 100644
--- a/cmd/router/main_test.go
+++ b/cmd/router/main_test.go
@@ -98,7 +98,7 @@ func TestSimpleModelChainer(t *testing.T) {
 		"Authorization": {"Bearer Token"},
 	}
 
-	res, err := routeStep("root", graphSpec, jsonBytes, headers)
+	res, _, err := routeStep("root", graphSpec, jsonBytes, headers)
 	var response map[string]interface{}
 	err = json.Unmarshal(res, &response)
 	expectedResponse := map[string]interface{}{
@@ -170,7 +170,7 @@ func TestSimpleModelEnsemble(t *testing.T) {
 	headers := http.Header{
 		"Authorization": {"Bearer Token"},
 	}
-	res, err := routeStep("root", graphSpec, jsonBytes, headers)
+	res, _, err := routeStep("root", graphSpec, jsonBytes, headers)
 	var response map[string]interface{}
 	err = json.Unmarshal(res, &response)
 	expectedResponse := map[string]interface{}{
@@ -349,7 +349,7 @@ func TestInferenceGraphWithCondition(t *testing.T) {
 	headers := http.Header{
 		"Authorization": {"Bearer Token"},
 	}
-	res, err := routeStep("root", graphSpec, jsonBytes, headers)
+	res, _, err := routeStep("root", graphSpec, jsonBytes, headers)
 	var response map[string]interface{}
 	err = json.Unmarshal(res, &response)
 	expectedModel3Response := map[string]interface{}{
@@ -413,7 +413,7 @@ func TestCallServiceWhenNoneHeadersToPropagateIsEmpty(t *testing.T) {
 	}
 	// Propagating no header
 	headersToPropagate = []string{}
-	res, err := callService(model1Url.String(), jsonBytes, headers)
+	res, _, err := callService(model1Url.String(), jsonBytes, headers)
 	var response map[string]interface{}
 	err = json.Unmarshal(res, &response)
 	expectedResponse := map[string]interface{}{
@@ -458,7 +458,7 @@ func TestCallServiceWhen1HeaderToPropagate(t *testing.T) {
 	}
 	// Propagating only 1 header "Test-Header-Key"
 	headersToPropagate = []string{"Test-Header-Key"}
-	res, err := callService(model1Url.String(), jsonBytes, headers)
+	res, _, err := callService(model1Url.String(), jsonBytes, headers)
 	var response map[string]interface{}
 	err = json.Unmarshal(res, &response)
 	expectedResponse := map[string]interface{}{
@@ -504,7 +504,7 @@ func TestCallServiceWhenMultipleHeadersToPropagate(t *testing.T) {
 	}
 	// Propagating multiple headers "Test-Header-Key"
 	headersToPropagate = []string{"Test-Header-Key", "Authorization"}
-	res, err := callService(model1Url.String(), jsonBytes, headers)
+	res, _, err := callService(model1Url.String(), jsonBytes, headers)
 	var response map[string]interface{}
 	err = json.Unmarshal(res, &response)
 	expectedResponse := map[string]interface{}{
diff --git a/cmd/router/router_error.go b/cmd/router/router_error.go
new file mode 100644
index 00000000000..4dd7f5fd9fc
--- /dev/null
+++ b/cmd/router/router_error.go
@@ -0,0 +1,12 @@
+package main
+
+import "fmt"
+
+type InferenceGraphRoutingError struct {
+	ErrorMessage string `json:"error"`
+	Cause        string `json:"cause"`
+}
+
+func (e *InferenceGraphRoutingError) Error() string {
+	return fmt.Sprintf("%s. %s", e.ErrorMessage, e.Cause)
+}
diff --git a/config/crd/serving.kserve.io_inferencegraphs.yaml b/config/crd/serving.kserve.io_inferencegraphs.yaml
index 5a37537130c..49006ff5887 100644
--- a/config/crd/serving.kserve.io_inferencegraphs.yaml
+++ b/config/crd/serving.kserve.io_inferencegraphs.yaml
@@ -420,6 +420,11 @@ spec:
                             type: string
                           data:
                             type: string
+                          dependency:
+                            enum:
+                            - Soft
+                            - Hard
+                            type: string
                           name:
                             type: string
                           nodeName:
diff --git a/config/overlays/test/configmap/inferenceservice.yaml b/config/overlays/test/configmap/inferenceservice.yaml
index c45d036a9b4..f9ba5fb5d67 100644
--- a/config/overlays/test/configmap/inferenceservice.yaml
+++ b/config/overlays/test/configmap/inferenceservice.yaml
@@ -72,3 +72,11 @@ data:
       "enableMetricAggregation": "false",
       "enablePrometheusScraping" : "false"
     }
+  router: |-
+    {
+        "image" : "kserve/router:latest",
+        "memoryRequest": "100Mi",
+        "memoryLimit": "500Mi",
+        "cpuRequest": "100m",
+        "cpuLimit": "100m"
+    }
\ No newline at end of file
diff --git a/pkg/apis/serving/v1alpha1/inference_graph.go b/pkg/apis/serving/v1alpha1/inference_graph.go
index 4977047e77c..744a22c16f9 100644
--- a/pkg/apis/serving/v1alpha1/inference_graph.go
+++ b/pkg/apis/serving/v1alpha1/inference_graph.go
@@ -230,6 +230,20 @@ type InferenceTarget struct {
 	ServiceURL string `json:"serviceUrl,omitempty"`
 }
 
+// InferenceStepDependencyType constant for inference step dependency
+// +k8s:openapi-gen=true
+// +kubebuilder:validation:Enum=Soft;Hard
+type InferenceStepDependencyType string
+
+// StepDependency Enum
+const (
+	// Soft
+	Soft InferenceStepDependencyType = "Soft"
+
+	// Hard
+	Hard InferenceStepDependencyType = "Hard"
+)
+
 // InferenceStep defines the inference target of the current step with condition, weights and data.
 // +k8s:openapi-gen=true
 type InferenceStep struct {
@@ -254,6 +268,10 @@ type InferenceStep struct {
 	// routing based on the condition
 	// +optional
 	Condition string `json:"condition,omitempty"`
+
+	// to decide whether a step is a hard or a soft dependency in the Inference Graph
+	// +optional
+	Dependency InferenceStepDependencyType `json:"dependency,omitempty"`
 }
 
 // InferenceGraphStatus defines the InferenceGraph conditions and status
diff --git a/pkg/apis/serving/v1beta1/zz_generated.deepcopy.go b/pkg/apis/serving/v1beta1/zz_generated.deepcopy.go
index 00021c8006f..9936f9a4929 100644
--- a/pkg/apis/serving/v1beta1/zz_generated.deepcopy.go
+++ b/pkg/apis/serving/v1beta1/zz_generated.deepcopy.go
@@ -17,24 +17,23 @@ See the License for the specific language governing permissions and
 limitations under the License.
 */
 
-// Code generated by deepcopy-gen. DO NOT EDIT.
+// Code generated by controller-gen. DO NOT EDIT.
 
 package v1beta1
 
 import (
-	constants "github.com/kserve/kserve/pkg/constants"
+	"github.com/kserve/kserve/pkg/constants"
 	corev1 "k8s.io/api/core/v1"
-	runtime "k8s.io/apimachinery/pkg/runtime"
-	apis "knative.dev/pkg/apis"
-	duckv1 "knative.dev/pkg/apis/duck/v1"
-	v1 "knative.dev/serving/pkg/apis/serving/v1"
+	"k8s.io/apimachinery/pkg/runtime"
+	"knative.dev/pkg/apis"
+	"knative.dev/pkg/apis/duck/v1"
+	servingv1 "knative.dev/serving/pkg/apis/serving/v1"
 )
 
 // DeepCopyInto is an autogenerated deepcopy function, copying the receiver, writing into out. in must be non-nil.
 func (in *ARTExplainerSpec) DeepCopyInto(out *ARTExplainerSpec) {
 	*out = *in
 	in.ExplainerExtensionSpec.DeepCopyInto(&out.ExplainerExtensionSpec)
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new ARTExplainerSpec.
@@ -51,7 +50,6 @@ func (in *ARTExplainerSpec) DeepCopy() *ARTExplainerSpec {
 func (in *AlibiExplainerSpec) DeepCopyInto(out *AlibiExplainerSpec) {
 	*out = *in
 	in.ExplainerExtensionSpec.DeepCopyInto(&out.ExplainerExtensionSpec)
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new AlibiExplainerSpec.
@@ -82,7 +80,6 @@ func (in *Batcher) DeepCopyInto(out *Batcher) {
 		*out = new(int)
 		**out = **in
 	}
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new Batcher.
@@ -152,7 +149,6 @@ func (in *ComponentExtensionSpec) DeepCopyInto(out *ComponentExtensionSpec) {
 			(*out)[key] = val
 		}
 	}
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new ComponentExtensionSpec.
@@ -170,7 +166,7 @@ func (in *ComponentStatusSpec) DeepCopyInto(out *ComponentStatusSpec) {
 	*out = *in
 	if in.Traffic != nil {
 		in, out := &in.Traffic, &out.Traffic
-		*out = make([]v1.TrafficTarget, len(*in))
+		*out = make([]servingv1.TrafficTarget, len(*in))
 		for i := range *in {
 			(*in)[i].DeepCopyInto(&(*out)[i])
 		}
@@ -192,10 +188,9 @@ func (in *ComponentStatusSpec) DeepCopyInto(out *ComponentStatusSpec) {
 	}
 	if in.Address != nil {
 		in, out := &in.Address, &out.Address
-		*out = new(duckv1.Addressable)
+		*out = new(v1.Addressable)
 		(*in).DeepCopyInto(*out)
 	}
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new ComponentStatusSpec.
@@ -212,7 +207,6 @@ func (in *ComponentStatusSpec) DeepCopy() *ComponentStatusSpec {
 func (in *CustomExplainer) DeepCopyInto(out *CustomExplainer) {
 	*out = *in
 	in.PodSpec.DeepCopyInto(&out.PodSpec)
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new CustomExplainer.
@@ -229,7 +223,6 @@ func (in *CustomExplainer) DeepCopy() *CustomExplainer {
 func (in *CustomPredictor) DeepCopyInto(out *CustomPredictor) {
 	*out = *in
 	in.PodSpec.DeepCopyInto(&out.PodSpec)
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new CustomPredictor.
@@ -246,7 +239,6 @@ func (in *CustomPredictor) DeepCopy() *CustomPredictor {
 func (in *CustomTransformer) DeepCopyInto(out *CustomTransformer) {
 	*out = *in
 	in.PodSpec.DeepCopyInto(&out.PodSpec)
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new CustomTransformer.
@@ -259,38 +251,6 @@ func (in *CustomTransformer) DeepCopy() *CustomTransformer {
 	return out
 }
 
-// DeepCopyInto is an autogenerated deepcopy function, copying the receiver, writing into out. in must be non-nil.
-func (in *DeployConfig) DeepCopyInto(out *DeployConfig) {
-	*out = *in
-	return
-}
-
-// DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new DeployConfig.
-func (in *DeployConfig) DeepCopy() *DeployConfig {
-	if in == nil {
-		return nil
-	}
-	out := new(DeployConfig)
-	in.DeepCopyInto(out)
-	return out
-}
-
-// DeepCopyInto is an autogenerated deepcopy function, copying the receiver, writing into out. in must be non-nil.
-func (in *ExplainerConfig) DeepCopyInto(out *ExplainerConfig) {
-	*out = *in
-	return
-}
-
-// DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new ExplainerConfig.
-func (in *ExplainerConfig) DeepCopy() *ExplainerConfig {
-	if in == nil {
-		return nil
-	}
-	out := new(ExplainerConfig)
-	in.DeepCopyInto(out)
-	return out
-}
-
 // DeepCopyInto is an autogenerated deepcopy function, copying the receiver, writing into out. in must be non-nil.
 func (in *ExplainerExtensionSpec) DeepCopyInto(out *ExplainerExtensionSpec) {
 	*out = *in
@@ -312,7 +272,6 @@ func (in *ExplainerExtensionSpec) DeepCopyInto(out *ExplainerExtensionSpec) {
 		*out = new(StorageSpec)
 		(*in).DeepCopyInto(*out)
 	}
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new ExplainerExtensionSpec.
@@ -340,7 +299,6 @@ func (in *ExplainerSpec) DeepCopyInto(out *ExplainerSpec) {
 	}
 	in.PodSpec.DeepCopyInto(&out.PodSpec)
 	in.ComponentExtensionSpec.DeepCopyInto(&out.ComponentExtensionSpec)
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new ExplainerSpec.
@@ -353,24 +311,6 @@ func (in *ExplainerSpec) DeepCopy() *ExplainerSpec {
 	return out
 }
 
-// DeepCopyInto is an autogenerated deepcopy function, copying the receiver, writing into out. in must be non-nil.
-func (in *ExplainersConfig) DeepCopyInto(out *ExplainersConfig) {
-	*out = *in
-	out.AlibiExplainer = in.AlibiExplainer
-	out.ARTExplainer = in.ARTExplainer
-	return
-}
-
-// DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new ExplainersConfig.
-func (in *ExplainersConfig) DeepCopy() *ExplainersConfig {
-	if in == nil {
-		return nil
-	}
-	out := new(ExplainersConfig)
-	in.DeepCopyInto(out)
-	return out
-}
-
 // DeepCopyInto is an autogenerated deepcopy function, copying the receiver, writing into out. in must be non-nil.
 func (in *FailureInfo) DeepCopyInto(out *FailureInfo) {
 	*out = *in
@@ -378,7 +318,6 @@ func (in *FailureInfo) DeepCopyInto(out *FailureInfo) {
 		in, out := &in.Time, &out.Time
 		*out = (*in).DeepCopy()
 	}
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new FailureInfo.
@@ -398,7 +337,6 @@ func (in *InferenceService) DeepCopyInto(out *InferenceService) {
 	in.ObjectMeta.DeepCopyInto(&out.ObjectMeta)
 	in.Spec.DeepCopyInto(&out.Spec)
 	in.Status.DeepCopyInto(&out.Status)
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new InferenceService.
@@ -431,7 +369,6 @@ func (in *InferenceServiceList) DeepCopyInto(out *InferenceServiceList) {
 			(*in)[i].DeepCopyInto(&(*out)[i])
 		}
 	}
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new InferenceServiceList.
@@ -466,7 +403,6 @@ func (in *InferenceServiceSpec) DeepCopyInto(out *InferenceServiceSpec) {
 		*out = new(TransformerSpec)
 		(*in).DeepCopyInto(*out)
 	}
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new InferenceServiceSpec.
@@ -485,7 +421,7 @@ func (in *InferenceServiceStatus) DeepCopyInto(out *InferenceServiceStatus) {
 	in.Status.DeepCopyInto(&out.Status)
 	if in.Address != nil {
 		in, out := &in.Address, &out.Address
-		*out = new(duckv1.Addressable)
+		*out = new(v1.Addressable)
 		(*in).DeepCopyInto(*out)
 	}
 	if in.URL != nil {
@@ -501,7 +437,6 @@ func (in *InferenceServiceStatus) DeepCopyInto(out *InferenceServiceStatus) {
 		}
 	}
 	in.ModelStatus.DeepCopyInto(&out.ModelStatus)
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new InferenceServiceStatus.
@@ -514,49 +449,10 @@ func (in *InferenceServiceStatus) DeepCopy() *InferenceServiceStatus {
 	return out
 }
 
-// DeepCopyInto is an autogenerated deepcopy function, copying the receiver, writing into out. in must be non-nil.
-func (in *InferenceServicesConfig) DeepCopyInto(out *InferenceServicesConfig) {
-	*out = *in
-	out.Explainers = in.Explainers
-	return
-}
-
-// DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new InferenceServicesConfig.
-func (in *InferenceServicesConfig) DeepCopy() *InferenceServicesConfig {
-	if in == nil {
-		return nil
-	}
-	out := new(InferenceServicesConfig)
-	in.DeepCopyInto(out)
-	return out
-}
-
-// DeepCopyInto is an autogenerated deepcopy function, copying the receiver, writing into out. in must be non-nil.
-func (in *IngressConfig) DeepCopyInto(out *IngressConfig) {
-	*out = *in
-	if in.IngressClassName != nil {
-		in, out := &in.IngressClassName, &out.IngressClassName
-		*out = new(string)
-		**out = **in
-	}
-	return
-}
-
-// DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new IngressConfig.
-func (in *IngressConfig) DeepCopy() *IngressConfig {
-	if in == nil {
-		return nil
-	}
-	out := new(IngressConfig)
-	in.DeepCopyInto(out)
-	return out
-}
-
 // DeepCopyInto is an autogenerated deepcopy function, copying the receiver, writing into out. in must be non-nil.
 func (in *LightGBMSpec) DeepCopyInto(out *LightGBMSpec) {
 	*out = *in
 	in.PredictorExtensionSpec.DeepCopyInto(&out.PredictorExtensionSpec)
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new LightGBMSpec.
@@ -577,7 +473,6 @@ func (in *LoggerSpec) DeepCopyInto(out *LoggerSpec) {
 		*out = new(string)
 		**out = **in
 	}
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new LoggerSpec.
@@ -593,7 +488,6 @@ func (in *LoggerSpec) DeepCopy() *LoggerSpec {
 // DeepCopyInto is an autogenerated deepcopy function, copying the receiver, writing into out. in must be non-nil.
 func (in *ModelCopies) DeepCopyInto(out *ModelCopies) {
 	*out = *in
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new ModelCopies.
@@ -614,7 +508,6 @@ func (in *ModelFormat) DeepCopyInto(out *ModelFormat) {
 		*out = new(string)
 		**out = **in
 	}
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new ModelFormat.
@@ -630,7 +523,6 @@ func (in *ModelFormat) DeepCopy() *ModelFormat {
 // DeepCopyInto is an autogenerated deepcopy function, copying the receiver, writing into out. in must be non-nil.
 func (in *ModelRevisionStates) DeepCopyInto(out *ModelRevisionStates) {
 	*out = *in
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new ModelRevisionStates.
@@ -653,7 +545,6 @@ func (in *ModelSpec) DeepCopyInto(out *ModelSpec) {
 		**out = **in
 	}
 	in.PredictorExtensionSpec.DeepCopyInto(&out.PredictorExtensionSpec)
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new ModelSpec.
@@ -684,7 +575,6 @@ func (in *ModelStatus) DeepCopyInto(out *ModelStatus) {
 		*out = new(ModelCopies)
 		**out = **in
 	}
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new ModelStatus.
@@ -701,7 +591,6 @@ func (in *ModelStatus) DeepCopy() *ModelStatus {
 func (in *ONNXRuntimeSpec) DeepCopyInto(out *ONNXRuntimeSpec) {
 	*out = *in
 	in.PredictorExtensionSpec.DeepCopyInto(&out.PredictorExtensionSpec)
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new ONNXRuntimeSpec.
@@ -718,7 +607,6 @@ func (in *ONNXRuntimeSpec) DeepCopy() *ONNXRuntimeSpec {
 func (in *PMMLSpec) DeepCopyInto(out *PMMLSpec) {
 	*out = *in
 	in.PredictorExtensionSpec.DeepCopyInto(&out.PredictorExtensionSpec)
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new PMMLSpec.
@@ -735,7 +623,6 @@ func (in *PMMLSpec) DeepCopy() *PMMLSpec {
 func (in *PaddleServerSpec) DeepCopyInto(out *PaddleServerSpec) {
 	*out = *in
 	in.PredictorExtensionSpec.DeepCopyInto(&out.PredictorExtensionSpec)
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new PaddleServerSpec.
@@ -906,7 +793,6 @@ func (in *PodSpec) DeepCopyInto(out *PodSpec) {
 			(*in)[i].DeepCopyInto(&(*out)[i])
 		}
 	}
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new PodSpec.
@@ -943,7 +829,6 @@ func (in *PredictorExtensionSpec) DeepCopyInto(out *PredictorExtensionSpec) {
 		*out = new(StorageSpec)
 		(*in).DeepCopyInto(*out)
 	}
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new PredictorExtensionSpec.
@@ -1011,7 +896,6 @@ func (in *PredictorSpec) DeepCopyInto(out *PredictorSpec) {
 	}
 	in.PodSpec.DeepCopyInto(&out.PodSpec)
 	in.ComponentExtensionSpec.DeepCopyInto(&out.ComponentExtensionSpec)
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new PredictorSpec.
@@ -1028,7 +912,6 @@ func (in *PredictorSpec) DeepCopy() *PredictorSpec {
 func (in *SKLearnSpec) DeepCopyInto(out *SKLearnSpec) {
 	*out = *in
 	in.PredictorExtensionSpec.DeepCopyInto(&out.PredictorExtensionSpec)
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new SKLearnSpec.
@@ -1070,7 +953,6 @@ func (in *StorageSpec) DeepCopyInto(out *StorageSpec) {
 		*out = new(string)
 		**out = **in
 	}
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new StorageSpec.
@@ -1087,7 +969,6 @@ func (in *StorageSpec) DeepCopy() *StorageSpec {
 func (in *TFServingSpec) DeepCopyInto(out *TFServingSpec) {
 	*out = *in
 	in.PredictorExtensionSpec.DeepCopyInto(&out.PredictorExtensionSpec)
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new TFServingSpec.
@@ -1104,7 +985,6 @@ func (in *TFServingSpec) DeepCopy() *TFServingSpec {
 func (in *TorchServeSpec) DeepCopyInto(out *TorchServeSpec) {
 	*out = *in
 	in.PredictorExtensionSpec.DeepCopyInto(&out.PredictorExtensionSpec)
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new TorchServeSpec.
@@ -1122,7 +1002,6 @@ func (in *TransformerSpec) DeepCopyInto(out *TransformerSpec) {
 	*out = *in
 	in.PodSpec.DeepCopyInto(&out.PodSpec)
 	in.ComponentExtensionSpec.DeepCopyInto(&out.ComponentExtensionSpec)
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new TransformerSpec.
@@ -1139,7 +1018,6 @@ func (in *TransformerSpec) DeepCopy() *TransformerSpec {
 func (in *TritonSpec) DeepCopyInto(out *TritonSpec) {
 	*out = *in
 	in.PredictorExtensionSpec.DeepCopyInto(&out.PredictorExtensionSpec)
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new TritonSpec.
@@ -1156,7 +1034,6 @@ func (in *TritonSpec) DeepCopy() *TritonSpec {
 func (in *XGBoostSpec) DeepCopyInto(out *XGBoostSpec) {
 	*out = *in
 	in.PredictorExtensionSpec.DeepCopyInto(&out.PredictorExtensionSpec)
-	return
 }
 
 // DeepCopy is an autogenerated deepcopy function, copying the receiver, creating a new XGBoostSpec.
diff --git a/python/error_404_isvc.Dockerfile b/python/error_404_isvc.Dockerfile
new file mode 100644
index 00000000000..8f406ab8b28
--- /dev/null
+++ b/python/error_404_isvc.Dockerfile
@@ -0,0 +1,51 @@
+ARG PYTHON_VERSION=3.9
+ARG BASE_IMAGE=python:${PYTHON_VERSION}-slim-bullseye
+ARG VENV_PATH=/prod_venv
+
+FROM ${BASE_IMAGE} as builder
+
+RUN apt-get update && apt-get install -y gcc python3-dev
+
+# Install Poetry
+ARG POETRY_HOME=/opt/poetry
+ARG POETRY_VERSION=1.4.0
+
+RUN python3 -m venv ${POETRY_HOME} && ${POETRY_HOME}/bin/pip install poetry==${POETRY_VERSION}
+ENV PATH="$PATH:${POETRY_HOME}/bin"
+
+# Activate virtual env
+ARG VENV_PATH
+ENV VIRTUAL_ENV=${VENV_PATH}
+RUN python3 -m venv $VIRTUAL_ENV
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+
+COPY kserve/pyproject.toml kserve/poetry.lock kserve/
+RUN cd kserve && poetry install --no-root --no-interaction --no-cache
+COPY kserve kserve
+RUN cd kserve && poetry install --no-interaction --no-cache
+
+RUN echo $(pwd)
+RUN echo $(ls)
+COPY test_resources/graph/error_404_isvc/pyproject.toml test_resources/graph/error_404_isvc/poetry.lock error_404_isvc/
+RUN cd error_404_isvc && poetry install --no-root --no-interaction --no-cache
+COPY test_resources/graph/error_404_isvc error_404_isvc
+RUN cd error_404_isvc && poetry install --no-interaction --no-cache
+
+
+FROM ${BASE_IMAGE} as prod
+
+COPY third_party third_party
+
+# Activate virtual env
+ARG VENV_PATH
+ENV VIRTUAL_ENV=${VENV_PATH}
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+
+RUN useradd kserve -m -u 1000 -d /home/kserve
+
+COPY --from=builder --chown=kserve:kserve $VIRTUAL_ENV $VIRTUAL_ENV
+COPY --from=builder kserve kserve
+COPY --from=builder error_404_isvc error_404_isvc
+
+USER 1000
+ENTRYPOINT ["python", "-m", "error_404_isvc.model"]
diff --git a/python/kserve/poetry.lock b/python/kserve/poetry.lock
index 1a5b494e5fd..35b31df290e 100644
--- a/python/kserve/poetry.lock
+++ b/python/kserve/poetry.lock
@@ -1423,6 +1423,23 @@ files = [
 [package.dependencies]
 six = "*"
 
+[[package]]
+name = "jinja2"
+version = "3.1.2"
+description = "A very fast and expressive template engine."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "Jinja2-3.1.2-py3-none-any.whl", hash = "sha256:6088930bfe239f0e6710546ab9c19c9ef35e29792895fed6e6e31a023a182a61"},
+    {file = "Jinja2-3.1.2.tar.gz", hash = "sha256:31351a702a408a9e7595a8fc6150fc3f43bb6bf7e319770cbc0db9df9437e852"},
+]
+
+[package.dependencies]
+MarkupSafe = ">=2.0"
+
+[package.extras]
+i18n = ["Babel (>=2.7)"]
+
 [[package]]
 name = "jinxed"
 version = "1.2.0"
@@ -1495,6 +1512,65 @@ websocket-client = ">=0.32.0,<0.40.0 || >0.40.0,<0.41.dev0 || >=0.43.dev0"
 [package.extras]
 adal = ["adal (>=1.0.2)"]
 
+[[package]]
+name = "markupsafe"
+version = "2.1.3"
+description = "Safely add untrusted strings to HTML/XML markup."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "MarkupSafe-2.1.3-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:cd0f502fe016460680cd20aaa5a76d241d6f35a1c3350c474bac1273803893fa"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:e09031c87a1e51556fdcb46e5bd4f59dfb743061cf93c4d6831bf894f125eb57"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:68e78619a61ecf91e76aa3e6e8e33fc4894a2bebe93410754bd28fce0a8a4f9f"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:65c1a9bcdadc6c28eecee2c119465aebff8f7a584dd719facdd9e825ec61ab52"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:525808b8019e36eb524b8c68acdd63a37e75714eac50e988180b169d64480a00"},
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+    {file = "MarkupSafe-2.1.3.tar.gz", hash = "sha256:af598ed32d6ae86f1b747b82783958b1a4ab8f617b06fe68795c7f026abbdcad"},
+]
+
 [[package]]
 name = "msal"
 version = "1.22.0"
@@ -3244,4 +3320,4 @@ storage = ["azure-identity", "azure-storage-blob", "azure-storage-file-share", "
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.8,<3.12"
-content-hash = "e0f28246d385a8fb29939a1ef68e6f4c3b51c969cc7cb939cf4056be75d05953"
+content-hash = "0e0bc2165696c5e57540323305b2eaeb0628df12dcb35c7188dfb46e0384665d"
diff --git a/python/kserve/pyproject.toml b/python/kserve/pyproject.toml
index 14468dff468..8574a22c7cf 100644
--- a/python/kserve/pyproject.toml
+++ b/python/kserve/pyproject.toml
@@ -91,6 +91,7 @@ mypy = "^0.991"
 portforward = "^0.4.3"
 avro = "^1.11.0"
 tomlkit = "^0.11.6"
+jinja2 = "^3.1.2"
 
 [tool.poetry-version-plugin]
 source = "file"
diff --git a/python/success_200_isvc.Dockerfile b/python/success_200_isvc.Dockerfile
new file mode 100644
index 00000000000..24550a89f65
--- /dev/null
+++ b/python/success_200_isvc.Dockerfile
@@ -0,0 +1,51 @@
+ARG PYTHON_VERSION=3.9
+ARG BASE_IMAGE=python:${PYTHON_VERSION}-slim-bullseye
+ARG VENV_PATH=/prod_venv
+
+FROM ${BASE_IMAGE} as builder
+
+RUN apt-get update && apt-get install -y gcc python3-dev
+
+# Install Poetry
+ARG POETRY_HOME=/opt/poetry
+ARG POETRY_VERSION=1.4.0
+
+RUN python3 -m venv ${POETRY_HOME} && ${POETRY_HOME}/bin/pip install poetry==${POETRY_VERSION}
+ENV PATH="$PATH:${POETRY_HOME}/bin"
+
+# Activate virtual env
+ARG VENV_PATH
+ENV VIRTUAL_ENV=${VENV_PATH}
+RUN python3 -m venv $VIRTUAL_ENV
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+
+COPY kserve/pyproject.toml kserve/poetry.lock kserve/
+RUN cd kserve && poetry install --no-root --no-interaction --no-cache
+COPY kserve kserve
+RUN cd kserve && poetry install --no-interaction --no-cache
+
+RUN echo $(pwd)
+RUN echo $(ls)
+COPY test_resources/graph/success_200_isvc/pyproject.toml test_resources/graph/success_200_isvc/poetry.lock success_200_isvc/
+RUN cd success_200_isvc && poetry install --no-root --no-interaction --no-cache
+COPY test_resources/graph/success_200_isvc success_200_isvc
+RUN cd success_200_isvc && poetry install --no-interaction --no-cache
+
+
+FROM ${BASE_IMAGE} as prod
+
+COPY third_party third_party
+
+# Activate virtual env
+ARG VENV_PATH
+ENV VIRTUAL_ENV=${VENV_PATH}
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+
+RUN useradd kserve -m -u 1000 -d /home/kserve
+
+COPY --from=builder --chown=kserve:kserve $VIRTUAL_ENV $VIRTUAL_ENV
+COPY --from=builder kserve kserve
+COPY --from=builder success_200_isvc success_200_isvc
+
+USER 1000
+ENTRYPOINT ["python", "-m", "success_200_isvc.model"]
diff --git a/python/test_resources/graph/error_404_isvc/__init__.py b/python/test_resources/graph/error_404_isvc/__init__.py
new file mode 100644
index 00000000000..e69de29bb2d
diff --git a/python/test_resources/graph/error_404_isvc/model.py b/python/test_resources/graph/error_404_isvc/model.py
new file mode 100644
index 00000000000..a1b86404929
--- /dev/null
+++ b/python/test_resources/graph/error_404_isvc/model.py
@@ -0,0 +1,34 @@
+import argparse
+import logging
+from typing import Dict, Union
+
+import kserve
+from fastapi import HTTPException
+from kserve.model import InferRequest, ModelInferRequest
+
+logger = logging.getLogger(__name__)
+
+
+class SampleTemplateNode(kserve.Model):
+    def __init__(self, name: str):
+        super().__init__(name)
+        self.name = name
+        self.load()
+
+    def load(self):
+        self.ready = True
+
+    def predict(self, payload: Union[Dict, InferRequest, ModelInferRequest], headers) -> Dict:
+        raise HTTPException(status_code=404, detail="Intentional 404 code")
+
+
+DEFAULT_MODEL_NAME = "model"
+
+parser = argparse.ArgumentParser(parents=[kserve.model_server.parser])
+parser.add_argument('--model_name', default=DEFAULT_MODEL_NAME,
+                    help='The name that the model is served under.')
+
+args, _ = parser.parse_known_args()
+if __name__ == "__main__":
+    model = SampleTemplateNode(name=args.model_name)
+    kserve.ModelServer(workers=1).start([model])
diff --git a/python/test_resources/graph/error_404_isvc/poetry.lock b/python/test_resources/graph/error_404_isvc/poetry.lock
new file mode 100644
index 00000000000..fbafbd0aa0b
--- /dev/null
+++ b/python/test_resources/graph/error_404_isvc/poetry.lock
@@ -0,0 +1,2410 @@
+# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand.
+
+[[package]]
+name = "aiohttp"
+version = "3.8.5"
+description = "Async http client/server framework (asyncio)"
+optional = false
+python-versions = ">=3.6"
+files = [
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+    {file = "yarl-1.9.2.tar.gz", hash = "sha256:04ab9d4b9f587c06d801c2abfe9317b77cdf996c65a90d5e84ecc45010823571"},
+]
+
+[package.dependencies]
+idna = ">=2.0"
+multidict = ">=4.0"
+
+[metadata]
+lock-version = "2.0"
+python-versions = ">=3.9,<3.12"
+content-hash = "5afd05b5c85d228bc3e6a84428893ac5783c0be534a4e4aa0aa8277d596d506e"
diff --git a/python/test_resources/graph/error_404_isvc/pyproject.toml b/python/test_resources/graph/error_404_isvc/pyproject.toml
new file mode 100644
index 00000000000..076c9e313d4
--- /dev/null
+++ b/python/test_resources/graph/error_404_isvc/pyproject.toml
@@ -0,0 +1,22 @@
+[tool.poetry]
+name = "error_404_isvc"
+version = "0.11.0"
+description = "Custom isvc that always returns 404 with a JSON message"
+authors = ["The KServe Authors"]
+license = "https://github.com/kserve/kserve/blob/master/LICENSE"
+packages = [
+    { include = "*.py" }
+]
+
+[tool.poetry.dependencies]
+python = ">=3.9,<3.12"
+kserve = {path = "../../../kserve", develop = true}
+
+
+[tool.poetry-version-plugin]
+source = "file"
+file_path = "../VERSION"
+
+[build-system]
+requires = ["poetry-core>=1.0.0"]
+build-backend = "poetry.core.masonry.api"
diff --git a/python/test_resources/graph/success_200_isvc/__init__.py b/python/test_resources/graph/success_200_isvc/__init__.py
new file mode 100644
index 00000000000..e69de29bb2d
diff --git a/python/test_resources/graph/success_200_isvc/model.py b/python/test_resources/graph/success_200_isvc/model.py
new file mode 100644
index 00000000000..768c2790d0f
--- /dev/null
+++ b/python/test_resources/graph/success_200_isvc/model.py
@@ -0,0 +1,33 @@
+import argparse
+import logging
+from typing import Dict, Union
+
+import kserve
+from kserve.model import InferRequest, ModelInferRequest
+
+logger = logging.getLogger(__name__)
+
+
+class SampleTemplateNode(kserve.Model):
+    def __init__(self, name: str):
+        super().__init__(name)
+        self.name = name
+        self.load()
+
+    def load(self):
+        self.ready = True
+
+    def predict(self, payload: Union[Dict, InferRequest, ModelInferRequest], headers) -> Dict:
+        return {"message": "SUCCESS"}
+
+
+DEFAULT_MODEL_NAME = "model"
+
+parser = argparse.ArgumentParser(parents=[kserve.model_server.parser])
+parser.add_argument('--model_name', default=DEFAULT_MODEL_NAME,
+                    help='The name that the model is served under.')
+
+args, _ = parser.parse_known_args()
+if __name__ == "__main__":
+    model = SampleTemplateNode(name=args.model_name)
+    kserve.ModelServer(workers=1).start([model])
diff --git a/python/test_resources/graph/success_200_isvc/poetry.lock b/python/test_resources/graph/success_200_isvc/poetry.lock
new file mode 100644
index 00000000000..fbafbd0aa0b
--- /dev/null
+++ b/python/test_resources/graph/success_200_isvc/poetry.lock
@@ -0,0 +1,2410 @@
+# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand.
+
+[[package]]
+name = "aiohttp"
+version = "3.8.5"
+description = "Async http client/server framework (asyncio)"
+optional = false
+python-versions = ">=3.6"
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+    {file = "yarl-1.9.2.tar.gz", hash = "sha256:04ab9d4b9f587c06d801c2abfe9317b77cdf996c65a90d5e84ecc45010823571"},
+]
+
+[package.dependencies]
+idna = ">=2.0"
+multidict = ">=4.0"
+
+[metadata]
+lock-version = "2.0"
+python-versions = ">=3.9,<3.12"
+content-hash = "5afd05b5c85d228bc3e6a84428893ac5783c0be534a4e4aa0aa8277d596d506e"
diff --git a/python/test_resources/graph/success_200_isvc/pyproject.toml b/python/test_resources/graph/success_200_isvc/pyproject.toml
new file mode 100644
index 00000000000..5c1a2f23249
--- /dev/null
+++ b/python/test_resources/graph/success_200_isvc/pyproject.toml
@@ -0,0 +1,22 @@
+[tool.poetry]
+name = "success_200_isvc"
+version = "0.11.0"
+description = "Custom isvc that always returns 200 with a JSON SUCCESS message"
+authors = ["The KServe Authors"]
+license = "https://github.com/kserve/kserve/blob/master/LICENSE"
+packages = [
+    { include = "*.py" }
+]
+
+[tool.poetry.dependencies]
+python = ">=3.9,<3.12"
+kserve = {path = "../../../kserve", develop = true}
+
+
+[tool.poetry-version-plugin]
+source = "file"
+file_path = "../VERSION"
+
+[build-system]
+requires = ["poetry-core>=1.0.0"]
+build-backend = "poetry.core.masonry.api"
diff --git a/test/crds/serving.kserve.io_inferenceservices.yaml b/test/crds/serving.kserve.io_inferenceservices.yaml
index 2d4b409ec4b..a439cdb7f19 100644
--- a/test/crds/serving.kserve.io_inferenceservices.yaml
+++ b/test/crds/serving.kserve.io_inferenceservices.yaml
@@ -2948,6 +2948,11 @@ spec:
                             type: string
                           data:
                             type: string
+                          dependency:
+                            enum:
+                            - Soft
+                            - Hard
+                            type: string
                           name:
                             type: string
                           nodeName:
diff --git a/test/e2e/graph/test-resources/custom_predictor_input.json b/test/e2e/graph/test-resources/custom_predictor_input.json
new file mode 100644
index 00000000000..e462ebfa960
--- /dev/null
+++ b/test/e2e/graph/test-resources/custom_predictor_input.json
@@ -0,0 +1,6 @@
+{
+  "instances": [
+    [6.8,  2.8,  4.8,  1.4],
+    [6.0,  3.4,  4.5,  1.6]
+  ]
+}
\ No newline at end of file
diff --git a/test/e2e/graph/test-resources/ig_test_ensemble_scenario_7.yaml b/test/e2e/graph/test-resources/ig_test_ensemble_scenario_7.yaml
new file mode 100644
index 00000000000..a919564f545
--- /dev/null
+++ b/test/e2e/graph/test-resources/ig_test_ensemble_scenario_7.yaml
@@ -0,0 +1,14 @@
+# Since both the steps are soft deps, so output will be combined output of both steps
+apiVersion: serving.kserve.io/v1alpha1
+kind: InferenceGraph
+metadata:
+  name: {{ graph_name }}
+spec:
+  nodes:
+    root:
+      routerType: Ensemble
+      steps:
+      - name: "rootStep1"
+        serviceName: {{ success_200_isvc_id }}
+      - name: "rootStep2"
+        serviceName: {{ error_404_isvc_id }}
\ No newline at end of file
diff --git a/test/e2e/graph/test-resources/ig_test_ensemble_scenario_8.yaml b/test/e2e/graph/test-resources/ig_test_ensemble_scenario_8.yaml
new file mode 100644
index 00000000000..2282f78bdb2
--- /dev/null
+++ b/test/e2e/graph/test-resources/ig_test_ensemble_scenario_8.yaml
@@ -0,0 +1,17 @@
+# Since HARD step will return non-200, so IG will return that step's output as IG's output
+apiVersion: serving.kserve.io/v1alpha1
+kind: InferenceGraph
+metadata:
+  name: {{ graph_name }}
+spec:
+  nodes:
+    root:
+      routerType: Ensemble
+      steps:
+      - name: "rootStep1"
+        serviceName: {{ error_404_isvc_id }}
+        dependency: Hard
+      - name: "rootStep2"
+        serviceName: {{ success_200_isvc_id }}
+      - name: "rootStep3"
+        serviceName: {{ success_200_isvc_id }}
\ No newline at end of file
diff --git a/test/e2e/graph/test-resources/ig_test_seq_scenario_3.yaml b/test/e2e/graph/test-resources/ig_test_seq_scenario_3.yaml
new file mode 100644
index 00000000000..91c753609de
--- /dev/null
+++ b/test/e2e/graph/test-resources/ig_test_seq_scenario_3.yaml
@@ -0,0 +1,16 @@
+# Call to this IG will stop at "rootStep1" itself as rootStep1 is a HARD dependency and it will return non-200
+apiVersion: serving.kserve.io/v1alpha1
+kind: InferenceGraph
+metadata:
+  name: {{ graph_name }}
+spec:
+  nodes:
+    root:
+      routerType: Sequence
+      steps:
+      - serviceName: {{ error_404_isvc_id }}
+        name: "rootStep1"
+        dependency: Hard
+      - serviceName: {{ success_200_isvc_id }}
+        name: "rootStep2"
+        dependency: Soft
\ No newline at end of file
diff --git a/test/e2e/graph/test-resources/ig_test_switch_scenario_4.yaml b/test/e2e/graph/test-resources/ig_test_switch_scenario_4.yaml
new file mode 100644
index 00000000000..8c49bdaf31a
--- /dev/null
+++ b/test/e2e/graph/test-resources/ig_test_switch_scenario_4.yaml
@@ -0,0 +1,17 @@
+apiVersion: serving.kserve.io/v1alpha1
+kind: InferenceGraph
+metadata:
+  name: {{ graph_name }}
+spec:
+  nodes:
+    root:
+      routerType: Switch
+      steps:
+      - name: "rootStep1"
+        serviceName: {{ error_404_isvc_id }}
+        condition: "[@this].#(decision_picker==ERROR)"
+        dependency: Soft
+      - name: "rootStep2"
+        serviceName: {{ success_200_isvc_id }}
+        condition: "[@this].#(decision_picker==SUCCESS)"
+        dependency: Soft
\ No newline at end of file
diff --git a/test/e2e/graph/test-resources/ig_test_switch_scenario_5.yaml b/test/e2e/graph/test-resources/ig_test_switch_scenario_5.yaml
new file mode 100644
index 00000000000..57899433d9c
--- /dev/null
+++ b/test/e2e/graph/test-resources/ig_test_switch_scenario_5.yaml
@@ -0,0 +1,20 @@
+apiVersion: serving.kserve.io/v1alpha1
+kind: InferenceGraph
+metadata:
+  name: {{ graph_name }}
+spec:
+  nodes:
+    root:
+      routerType: Sequence
+      steps:
+      - name: "rootStep1"
+        nodeName: node1
+        dependency: Soft # This is the default setting but setting it explicitly for more clarity
+      - name: "rootStep2"
+        serviceName: {{ success_200_isvc_id }}
+    node1:
+      routerType: Switch
+      steps:
+        - name: "node1Step1"
+          serviceName: {{ error_404_isvc_id }}
+          condition: "[@this].#(decision_picker==ERROR)"
\ No newline at end of file
diff --git a/test/e2e/graph/test-resources/ig_test_switch_scenario_6.yaml b/test/e2e/graph/test-resources/ig_test_switch_scenario_6.yaml
new file mode 100644
index 00000000000..806d80f38cf
--- /dev/null
+++ b/test/e2e/graph/test-resources/ig_test_switch_scenario_6.yaml
@@ -0,0 +1,21 @@
+apiVersion: serving.kserve.io/v1alpha1
+kind: InferenceGraph
+metadata:
+  name: {{ graph_name }}
+spec:
+  nodes:
+    root:
+      routerType: Sequence
+      steps:
+      - name: "rootStep1"
+        nodeName: node1
+        dependency: Hard
+      - name: "rootStep2"
+        serviceName: {{ success_200_isvc_id }}
+    node1:
+      routerType: Switch
+      steps:
+        - name: "node1Step1"
+          serviceName: {{ error_404_isvc_id }}
+          condition: "[@this].#(decision_picker==ERROR)"
+          dependency: Hard
\ No newline at end of file
diff --git a/test/e2e/graph/test-resources/iris_input.json b/test/e2e/graph/test-resources/iris_input.json
new file mode 100644
index 00000000000..72461918343
--- /dev/null
+++ b/test/e2e/graph/test-resources/iris_input.json
@@ -0,0 +1,7 @@
+{
+  "instances": [
+    [6.8,  2.8,  4.8,  1.4],
+    [6.0,  3.4,  4.5,  1.6]
+  ]
+}
+
diff --git a/test/e2e/graph/test-resources/switch_call_error_picker_input.json b/test/e2e/graph/test-resources/switch_call_error_picker_input.json
new file mode 100644
index 00000000000..c1af1a84c2e
--- /dev/null
+++ b/test/e2e/graph/test-resources/switch_call_error_picker_input.json
@@ -0,0 +1,6 @@
+{
+  "decision_picker": "ERROR",
+  "key1": {
+    "name": "abc"
+  }
+}
\ No newline at end of file
diff --git a/test/e2e/graph/test-resources/switch_call_no_match_input.json b/test/e2e/graph/test-resources/switch_call_no_match_input.json
new file mode 100644
index 00000000000..d5ddb34d823
--- /dev/null
+++ b/test/e2e/graph/test-resources/switch_call_no_match_input.json
@@ -0,0 +1,6 @@
+{
+  "decision_picker": "NO_MATCH",
+  "key1": {
+    "name": "abc"
+  }
+}
\ No newline at end of file
diff --git a/test/e2e/graph/test-resources/switch_call_success_picker_input.json b/test/e2e/graph/test-resources/switch_call_success_picker_input.json
new file mode 100644
index 00000000000..00f9afd83d5
--- /dev/null
+++ b/test/e2e/graph/test-resources/switch_call_success_picker_input.json
@@ -0,0 +1,6 @@
+{
+  "decision_picker": "SUCCESS",
+  "key1": {
+    "name": "abc"
+  }
+}
\ No newline at end of file
diff --git a/test/e2e/graph/test_inference_graph.py b/test/e2e/graph/test_inference_graph.py
index a439ef7a934..fdafcd688b8 100644
--- a/test/e2e/graph/test_inference_graph.py
+++ b/test/e2e/graph/test_inference_graph.py
@@ -1,18 +1,41 @@
+import logging
 import os
+import uuid
 
-from kubernetes import client
+import pytest
+import yaml
+from jinja2 import Template
+from kserve import (
+    V1beta1PredictorSpec,
+    V1beta1SKLearnSpec,
+    V1beta1InferenceServiceSpec,
+    V1beta1InferenceService,
+    constants,
+    KServeClient,
+    V1alpha1InferenceGraphSpec,
+    V1alpha1InferenceRouter,
+    V1alpha1InferenceGraph,
+    V1alpha1InferenceStep,
+    V1beta1XGBoostSpec,
+)
+from kubernetes import client, config
+from kubernetes.client import V1Container
 from kubernetes.client import V1ResourceRequirements
+from requests.exceptions import HTTPError
 
-from kserve import V1beta1PredictorSpec, V1beta1SKLearnSpec, V1beta1InferenceServiceSpec, V1beta1InferenceService, \
-    constants, KServeClient, V1alpha1InferenceGraphSpec, V1alpha1InferenceRouter, V1alpha1InferenceGraph, \
-    V1alpha1InferenceStep, V1beta1XGBoostSpec
-import pytest
 from ..common.utils import KSERVE_TEST_NAMESPACE, predict_ig
 
+logging.basicConfig(level=logging.INFO)
+
+SUCCESS_ISVC_IMAGE = "kserve/success-200-isvc:" + os.environ.get("GITHUB_SHA")
+ERROR_ISVC_IMAGE = "kserve/error-404-isvc:" + os.environ.get("GITHUB_SHA")
+IG_TEST_RESOURCES_BASE_LOCATION = "graph/test-resources"
+
 
 @pytest.mark.graph
 @pytest.mark.kourier
 def test_inference_graph():
+    logging.info("Starting test test_inference_graph")
     sklearn_name = "isvc-sklearn-graph"
     xgb_name = "isvc-xgboost-graph"
     graph_name = "model-chainer"
@@ -31,8 +54,7 @@ def test_inference_graph():
         api_version=constants.KSERVE_V1BETA1,
         kind=constants.KSERVE_KIND,
         metadata=client.V1ObjectMeta(
-            name=sklearn_name,
-            namespace=KSERVE_TEST_NAMESPACE
+            name=sklearn_name, namespace=KSERVE_TEST_NAMESPACE
         ),
         spec=V1beta1InferenceServiceSpec(predictor=sklearn_predictor),
     )
@@ -50,38 +72,37 @@ def test_inference_graph():
     xgb_isvc = V1beta1InferenceService(
         api_version=constants.KSERVE_V1BETA1,
         kind=constants.KSERVE_KIND,
-        metadata=client.V1ObjectMeta(
-            name=xgb_name, namespace=KSERVE_TEST_NAMESPACE
-        ),
+        metadata=client.V1ObjectMeta(name=xgb_name, namespace=KSERVE_TEST_NAMESPACE),
         spec=V1beta1InferenceServiceSpec(predictor=xgb_predictor),
     )
 
-    nodes = {"root": V1alpha1InferenceRouter(
-        router_type="Sequence",
-        steps=[
-            V1alpha1InferenceStep(
-                service_name=sklearn_name,
-            ),
-            V1alpha1InferenceStep(
-                service_name=xgb_name,
-                data="$request",
-            ),
-        ],
-    )}
+    nodes = {
+        "root": V1alpha1InferenceRouter(
+            router_type="Sequence",
+            steps=[
+                V1alpha1InferenceStep(
+                    service_name=sklearn_name,
+                ),
+                V1alpha1InferenceStep(
+                    service_name=xgb_name,
+                    data="$request",
+                ),
+            ],
+        )
+    }
     graph_spec = V1alpha1InferenceGraphSpec(
         nodes=nodes,
     )
     ig = V1alpha1InferenceGraph(
         api_version=constants.KSERVE_V1ALPHA1,
         kind=constants.KSERVE_KIND_INFERENCEGRAPH,
-        metadata=client.V1ObjectMeta(
-            name=graph_name,
-            namespace=KSERVE_TEST_NAMESPACE
-        ),
+        metadata=client.V1ObjectMeta(name=graph_name, namespace=KSERVE_TEST_NAMESPACE),
         spec=graph_spec,
     )
 
-    kserve_client = KServeClient(config_file=os.environ.get("KUBECONFIG", "~/.kube/config"))
+    kserve_client = KServeClient(
+        config_file=os.environ.get("KUBECONFIG", "~/.kube/config")
+    )
     kserve_client.create(sklearn_isvc)
     kserve_client.create(xgb_isvc)
     kserve_client.create_inference_graph(ig)
@@ -90,9 +111,633 @@ def test_inference_graph():
     kserve_client.wait_isvc_ready(xgb_name, namespace=KSERVE_TEST_NAMESPACE)
     kserve_client.wait_ig_ready(graph_name, namespace=KSERVE_TEST_NAMESPACE)
 
-    res = predict_ig(graph_name, "./data/iris_input.json")
+    res = predict_ig(
+        graph_name,
+        os.path.join(IG_TEST_RESOURCES_BASE_LOCATION, "iris_input.json"),
+    )
     assert res["predictions"] == [1, 1]
 
     kserve_client.delete_inference_graph(graph_name, KSERVE_TEST_NAMESPACE)
     kserve_client.delete(sklearn_name, KSERVE_TEST_NAMESPACE)
     kserve_client.delete(xgb_name, KSERVE_TEST_NAMESPACE)
+
+
+def create_ig_using_custom_object_api(resource_body):
+    config.load_kube_config()
+    k8s_client_custom_object = client.CustomObjectsApi()
+    try:
+        resource = k8s_client_custom_object.create_namespaced_custom_object(
+            group="serving.kserve.io",
+            version="v1alpha1",
+            plural="inferencegraphs",
+            namespace="kserve-ci-e2e-test",
+            body=resource_body,
+        )
+    except Exception as e:
+        raise e
+
+    return resource
+
+
+def construct_isvc_to_submit(service_name, image, model_name):
+    predictor = V1beta1PredictorSpec(
+        containers=[
+            V1Container(
+                name="kserve-container",
+                image=image,
+                resources=V1ResourceRequirements(
+                    requests={"cpu": "50m", "memory": "128Mi"},
+                    limits={"cpu": "100m", "memory": "1Gi"},
+                ),
+                args=["--model_name", model_name],
+            )
+        ]
+    )
+
+    isvc = V1beta1InferenceService(
+        api_version=constants.KSERVE_V1BETA1,
+        kind=constants.KSERVE_KIND,
+        metadata=client.V1ObjectMeta(
+            name=service_name, namespace=KSERVE_TEST_NAMESPACE
+        ),
+        spec=V1beta1InferenceServiceSpec(predictor=predictor),
+    )
+
+    return isvc
+
+
+def setup_isvcs_for_test(suffix):
+    logging.info(f"SUCCESS_ISVC_IMAGE is {SUCCESS_ISVC_IMAGE}")
+    logging.info(f"ERROR_ISVC_IMAGE is {ERROR_ISVC_IMAGE}")
+
+    # construct_isvc_to_submit
+    model_name = success_isvc_name = ("-").join(["success-200-isvc", suffix])
+    success_isvc = construct_isvc_to_submit(
+        success_isvc_name, image=SUCCESS_ISVC_IMAGE, model_name=model_name
+    )
+
+    # construct_isvc_to_submit
+    model_name = error_isvc_name = ("-").join(["error-404-isvc", suffix])
+    error_isvc = construct_isvc_to_submit(
+        error_isvc_name, image=ERROR_ISVC_IMAGE, model_name=model_name
+    )
+
+    return success_isvc_name, error_isvc_name, success_isvc, error_isvc
+
+
+@pytest.mark.graph
+@pytest.mark.kourier
+def test_ig_scenario1():
+    """
+    Scenario: Sequence graph with 2 steps that are both soft dependencies.
+     success_isvc(soft) -> error_isvc (soft)
+
+    We are not marking steps as soft or hard explicitly so this will test that default behavior of steps being soft
+    is as expected.
+    Expectation: IG will return response of error_isvc and predict_ig will raise exception
+    :return:
+    """
+
+    logging.info("Starting test test_ig_scenario1")
+    suffix = str(uuid.uuid4())[1:6]
+    success_isvc_name, error_isvc_name, success_isvc, error_isvc = setup_isvcs_for_test(
+        suffix
+    )
+    logging.info(f"success_isvc_name is {success_isvc_name}")
+    logging.info(f"error_isvc_name is {error_isvc_name}")
+
+    # Create graph
+    graph_name = "-".join(["sequence-graph", suffix])
+
+    nodes = {
+        "root": V1alpha1InferenceRouter(
+            router_type="Sequence",
+            steps=[
+                V1alpha1InferenceStep(
+                    service_name=success_isvc_name,
+                ),
+                V1alpha1InferenceStep(
+                    service_name=error_isvc_name,
+                    data="$request",
+                ),
+            ],
+        )
+    }
+    graph_spec = V1alpha1InferenceGraphSpec(
+        nodes=nodes,
+    )
+    ig = V1alpha1InferenceGraph(
+        api_version=constants.KSERVE_V1ALPHA1,
+        kind=constants.KSERVE_KIND_INFERENCEGRAPH,
+        metadata=client.V1ObjectMeta(name=graph_name, namespace=KSERVE_TEST_NAMESPACE),
+        spec=graph_spec,
+    )
+
+    kserve_client = KServeClient(
+        config_file=os.environ.get("KUBECONFIG", "~/.kube/config")
+    )
+    kserve_client.create(success_isvc)
+    kserve_client.create(error_isvc)
+    kserve_client.create_inference_graph(ig)
+
+    kserve_client.wait_isvc_ready(success_isvc_name, namespace=KSERVE_TEST_NAMESPACE)
+    kserve_client.wait_isvc_ready(error_isvc_name, namespace=KSERVE_TEST_NAMESPACE)
+    kserve_client.wait_ig_ready(graph_name, namespace=KSERVE_TEST_NAMESPACE)
+
+    with pytest.raises(HTTPError) as exc_info:
+        predict_ig(
+            graph_name,
+            os.path.join(
+                IG_TEST_RESOURCES_BASE_LOCATION, "custom_predictor_input.json"
+            ),
+        )
+
+    assert exc_info.value.response.json() == {"detail": "Intentional 404 code"}
+    assert exc_info.value.response.status_code == 404
+
+    kserve_client.delete_inference_graph(graph_name, KSERVE_TEST_NAMESPACE)
+    kserve_client.delete(success_isvc_name, KSERVE_TEST_NAMESPACE)
+    kserve_client.delete(error_isvc_name, KSERVE_TEST_NAMESPACE)
+
+
+@pytest.mark.graph
+@pytest.mark.kourier
+def test_ig_scenario2():
+    """
+    Scenario: Sequence graph with 2 steps that are both soft dependencies.
+       error_isvc (soft) -> success_isvc(soft)
+
+    Expectation: IG will return response of success_isvc and predict_ig will not raise any exception
+    :return:
+    """
+
+    logging.info("Starting test test_ig_scenario2")
+    suffix = str(uuid.uuid4())[1:6]
+    success_isvc_name, error_isvc_name, success_isvc, error_isvc = setup_isvcs_for_test(
+        suffix
+    )
+    logging.info(f"success_isvc_name is {success_isvc_name}")
+    logging.info(f"error_isvc_name is {error_isvc_name}")
+
+    # Create graph
+    graph_name = "-".join(["sequence-graph", suffix])
+
+    nodes = {
+        "root": V1alpha1InferenceRouter(
+            router_type="Sequence",
+            steps=[
+                V1alpha1InferenceStep(
+                    service_name=error_isvc_name,
+                ),
+                V1alpha1InferenceStep(
+                    service_name=success_isvc_name,
+                    data="$request",
+                ),
+            ],
+        )
+    }
+    graph_spec = V1alpha1InferenceGraphSpec(
+        nodes=nodes,
+    )
+    ig = V1alpha1InferenceGraph(
+        api_version=constants.KSERVE_V1ALPHA1,
+        kind=constants.KSERVE_KIND_INFERENCEGRAPH,
+        metadata=client.V1ObjectMeta(name=graph_name, namespace=KSERVE_TEST_NAMESPACE),
+        spec=graph_spec,
+    )
+
+    kserve_client = KServeClient(
+        config_file=os.environ.get("KUBECONFIG", "~/.kube/config")
+    )
+    kserve_client.create(success_isvc)
+    kserve_client.create(error_isvc)
+    kserve_client.create_inference_graph(ig)
+
+    kserve_client.wait_isvc_ready(success_isvc_name, namespace=KSERVE_TEST_NAMESPACE)
+    kserve_client.wait_isvc_ready(error_isvc_name, namespace=KSERVE_TEST_NAMESPACE)
+    kserve_client.wait_ig_ready(graph_name, namespace=KSERVE_TEST_NAMESPACE)
+
+    response = predict_ig(
+        graph_name,
+        os.path.join(IG_TEST_RESOURCES_BASE_LOCATION, "custom_predictor_input.json"),
+    )
+
+    assert response == {"message": "SUCCESS"}
+
+    kserve_client.delete_inference_graph(graph_name, KSERVE_TEST_NAMESPACE)
+    kserve_client.delete(success_isvc_name, KSERVE_TEST_NAMESPACE)
+    kserve_client.delete(error_isvc_name, KSERVE_TEST_NAMESPACE)
+
+
+@pytest.mark.graph
+@pytest.mark.kourier
+def test_ig_scenario3():
+    """
+     Scenario: Sequence graph with 2 steps - first is hard (and returns non-200) and second is soft dependency.
+     error_isvc(hard) -> success_isvc (soft)
+
+    Expectation: IG will return response of error_isvc and predict_ig will raise exception
+    """
+    logging.info("Starting test test_ig_scenario3")
+    suffix = str(uuid.uuid4())[1:6]
+    success_isvc_name, error_isvc_name, success_isvc, error_isvc = setup_isvcs_for_test(
+        suffix
+    )
+    logging.info(f"success_isvc_name is {success_isvc_name}")
+    logging.info(f"error_isvc_name is {error_isvc_name}")
+
+    kserve_client = KServeClient(
+        config_file=os.environ.get("KUBECONFIG", "~/.kube/config")
+    )
+    kserve_client.create(success_isvc)
+    kserve_client.create(error_isvc)
+
+    # Create graph
+    graph_name = "-".join(["sequence-graph", suffix])
+
+    # Because we run from test/e2e location in run-e2e-tests.sh
+    deployment_yaml_path = os.path.join(
+        IG_TEST_RESOURCES_BASE_LOCATION, "ig_test_seq_scenario_3.yaml"
+    )
+
+    # Read YAML file
+    with open(deployment_yaml_path, "r") as stream:
+        file_content = stream.read()
+        resource_template = Template(file_content)
+        substitutions = {
+            "graph_name": graph_name,
+            "error_404_isvc_id": error_isvc_name,
+            "success_200_isvc_id": success_isvc_name,
+        }
+        resource_body_after_rendering = yaml.safe_load(
+            resource_template.render(substitutions)
+        )
+        create_ig_using_custom_object_api(resource_body_after_rendering)
+
+    kserve_client.wait_isvc_ready(success_isvc_name, namespace=KSERVE_TEST_NAMESPACE)
+    kserve_client.wait_isvc_ready(error_isvc_name, namespace=KSERVE_TEST_NAMESPACE)
+    kserve_client.wait_ig_ready(graph_name, namespace=KSERVE_TEST_NAMESPACE)
+
+    with pytest.raises(HTTPError) as exc_info:
+        predict_ig(
+            graph_name,
+            os.path.join(
+                IG_TEST_RESOURCES_BASE_LOCATION, "custom_predictor_input.json"
+            ),
+        )
+
+    assert exc_info.value.response.json() == {"detail": "Intentional 404 code"}
+    assert exc_info.value.response.status_code == 404
+
+    kserve_client.delete_inference_graph(graph_name, KSERVE_TEST_NAMESPACE)
+    kserve_client.delete(success_isvc_name, KSERVE_TEST_NAMESPACE)
+    kserve_client.delete(error_isvc_name, KSERVE_TEST_NAMESPACE)
+
+
+@pytest.mark.graph
+@pytest.mark.kourier
+def test_ig_scenario4():
+    """
+    Scenario: Switch graph with 1 step as hard dependency and other one as soft dependency.
+    Will be testing 3 cases in this test case:
+    Expectation:
+    Case 1. IG will return response of error_isvc when condition for that step matches
+    Case 2. IG will return response of success_isvc when condition for that step matches
+    Case 3. IG will return 404 with error message when no condition matches
+       {
+               "error": "Failed to process request",
+               "cause": "None of the routes matched with the switch condition",
+       }
+    """
+    logging.info("Starting test test_ig_scenario4")
+    suffix = str(uuid.uuid4())[1:6]
+    success_isvc_name, error_isvc_name, success_isvc, error_isvc = setup_isvcs_for_test(
+        suffix
+    )
+    logging.info(f"success_isvc_name is {success_isvc_name}")
+    logging.info(f"error_isvc_name is {error_isvc_name}")
+
+    kserve_client = KServeClient(
+        config_file=os.environ.get("KUBECONFIG", "~/.kube/config")
+    )
+    kserve_client.create(success_isvc)
+    kserve_client.create(error_isvc)
+
+    # Create graph
+    graph_name = "-".join(["switch-graph", suffix])
+
+    # Because we run from test/e2e location in run-e2e-tests.sh
+    deployment_yaml_path = os.path.join(
+        IG_TEST_RESOURCES_BASE_LOCATION, "ig_test_switch_scenario_4.yaml"
+    )
+
+    # Read YAML file
+    with open(deployment_yaml_path, "r") as stream:
+        file_content = stream.read()
+        resource_template = Template(file_content)
+        substitutions = {
+            "graph_name": graph_name,
+            "error_404_isvc_id": error_isvc_name,
+            "success_200_isvc_id": success_isvc_name,
+        }
+        resource_body_after_rendering = yaml.safe_load(
+            resource_template.render(substitutions)
+        )
+        create_ig_using_custom_object_api(resource_body_after_rendering)
+
+    kserve_client.wait_isvc_ready(success_isvc_name, namespace=KSERVE_TEST_NAMESPACE)
+    kserve_client.wait_isvc_ready(error_isvc_name, namespace=KSERVE_TEST_NAMESPACE)
+    kserve_client.wait_ig_ready(graph_name, namespace=KSERVE_TEST_NAMESPACE)
+
+    # Case 1
+    with pytest.raises(HTTPError) as exc_info:
+        predict_ig(
+            graph_name,
+            os.path.join(
+                IG_TEST_RESOURCES_BASE_LOCATION, "switch_call_error_picker_input.json"
+            ),
+        )
+
+    assert exc_info.value.response.json() == {"detail": "Intentional 404 code"}
+    assert exc_info.value.response.status_code == 404
+
+    # Case 2
+    response = predict_ig(
+        graph_name,
+        os.path.join(
+            IG_TEST_RESOURCES_BASE_LOCATION, "switch_call_success_picker_input.json"
+        ),
+    )
+    assert response == {"message": "SUCCESS"}
+
+    # Case 3
+    with pytest.raises(HTTPError) as exc_info:
+        predict_ig(
+            graph_name,
+            os.path.join(
+                IG_TEST_RESOURCES_BASE_LOCATION, "switch_call_no_match_input.json"
+            ),
+        )
+
+    assert exc_info.value.response.json() == {
+        "error": "Failed to process request",
+        "cause": "None of the routes matched with the switch condition",
+    }
+    assert exc_info.value.response.status_code == 404
+
+    kserve_client.delete_inference_graph(graph_name, KSERVE_TEST_NAMESPACE)
+    kserve_client.delete(success_isvc_name, KSERVE_TEST_NAMESPACE)
+    kserve_client.delete(error_isvc_name, KSERVE_TEST_NAMESPACE)
+
+
+@pytest.mark.graph
+@pytest.mark.kourier
+def test_ig_scenario5():
+    """
+    Scenario: Switch graph where a match would happen for error node and then error would return but IG will continue
+    execution and call the next step in the flow as error step will be a soft dependency.
+    Expectation: IG will return response of success_isvc.
+    """
+    logging.info("Starting test test_ig_scenario5")
+    suffix = str(uuid.uuid4())[1:6]
+    success_isvc_name, error_isvc_name, success_isvc, error_isvc = setup_isvcs_for_test(
+        suffix
+    )
+    logging.info(f"success_isvc_name is {success_isvc_name}")
+    logging.info(f"error_isvc_name is {error_isvc_name}")
+
+    kserve_client = KServeClient(
+        config_file=os.environ.get("KUBECONFIG", "~/.kube/config")
+    )
+    kserve_client.create(success_isvc)
+    kserve_client.create(error_isvc)
+
+    # Create graph
+    graph_name = "-".join(["switch-graph", suffix])
+
+    # Because we run from test/e2e location in run-e2e-tests.sh
+    deployment_yaml_path = os.path.join(
+        IG_TEST_RESOURCES_BASE_LOCATION, "ig_test_switch_scenario_5.yaml"
+    )
+
+    # Read YAML file
+    with open(deployment_yaml_path, "r") as stream:
+        file_content = stream.read()
+        resource_template = Template(file_content)
+        substitutions = {
+            "graph_name": graph_name,
+            "error_404_isvc_id": error_isvc_name,
+            "success_200_isvc_id": success_isvc_name,
+        }
+        resource_body_after_rendering = yaml.safe_load(
+            resource_template.render(substitutions)
+        )
+        create_ig_using_custom_object_api(resource_body_after_rendering)
+
+    kserve_client.wait_isvc_ready(success_isvc_name, namespace=KSERVE_TEST_NAMESPACE)
+    kserve_client.wait_isvc_ready(error_isvc_name, namespace=KSERVE_TEST_NAMESPACE)
+    kserve_client.wait_ig_ready(graph_name, namespace=KSERVE_TEST_NAMESPACE)
+
+    response = predict_ig(
+        graph_name,
+        os.path.join(
+            IG_TEST_RESOURCES_BASE_LOCATION, "switch_call_error_picker_input.json"
+        ),
+    )
+    assert response == {"message": "SUCCESS"}
+
+    kserve_client.delete_inference_graph(graph_name, KSERVE_TEST_NAMESPACE)
+    kserve_client.delete(success_isvc_name, KSERVE_TEST_NAMESPACE)
+    kserve_client.delete(error_isvc_name, KSERVE_TEST_NAMESPACE)
+
+
+@pytest.mark.graph
+@pytest.mark.kourier
+def test_ig_scenario6():
+    """
+    Scenario: Switch graph where a match would happen for error node and then error would return and IG will NOT
+    continue execution and call the next step in the flow as error step will be a HARD dependency.
+    Expectation: IG will return response of success_isvc.
+    """
+    logging.info("Starting test test_ig_scenario6")
+    suffix = str(uuid.uuid4())[1:6]
+    success_isvc_name, error_isvc_name, success_isvc, error_isvc = setup_isvcs_for_test(
+        suffix
+    )
+    logging.info(f"success_isvc_name is {success_isvc_name}")
+    logging.info(f"error_isvc_name is {error_isvc_name}")
+
+    kserve_client = KServeClient(
+        config_file=os.environ.get("KUBECONFIG", "~/.kube/config")
+    )
+    kserve_client.create(success_isvc)
+    kserve_client.create(error_isvc)
+
+    # Create graph
+    graph_name = "-".join(["switch-graph", suffix])
+
+    # Because we run from test/e2e location in run-e2e-tests.sh
+    deployment_yaml_path = os.path.join(
+        IG_TEST_RESOURCES_BASE_LOCATION, "ig_test_switch_scenario_6.yaml"
+    )
+
+    # Read YAML file
+    with open(deployment_yaml_path, "r") as stream:
+        file_content = stream.read()
+        resource_template = Template(file_content)
+        substitutions = {
+            "graph_name": graph_name,
+            "error_404_isvc_id": error_isvc_name,
+            "success_200_isvc_id": success_isvc_name,
+        }
+        resource_body_after_rendering = yaml.safe_load(
+            resource_template.render(substitutions)
+        )
+        create_ig_using_custom_object_api(resource_body_after_rendering)
+
+    kserve_client.wait_isvc_ready(success_isvc_name, namespace=KSERVE_TEST_NAMESPACE)
+    kserve_client.wait_isvc_ready(error_isvc_name, namespace=KSERVE_TEST_NAMESPACE)
+    kserve_client.wait_ig_ready(graph_name, namespace=KSERVE_TEST_NAMESPACE)
+
+    with pytest.raises(HTTPError) as exc_info:
+        predict_ig(
+            graph_name,
+            os.path.join(
+                IG_TEST_RESOURCES_BASE_LOCATION, "switch_call_error_picker_input.json"
+            ),
+        )
+
+    assert exc_info.value.response.json() == {"detail": "Intentional 404 code"}
+    assert exc_info.value.response.status_code == 404
+
+    kserve_client.delete_inference_graph(graph_name, KSERVE_TEST_NAMESPACE)
+    kserve_client.delete(success_isvc_name, KSERVE_TEST_NAMESPACE)
+    kserve_client.delete(error_isvc_name, KSERVE_TEST_NAMESPACE)
+
+
+@pytest.mark.graph
+@pytest.mark.kourier
+def test_ig_scenario7():
+    """
+    Scenario: Ensemble graph with 2 steps, where both the steps are soft deps.
+
+    Expectation: IG will return combined response of both the steps.
+    """
+    logging.info("Starting test test_ig_scenario7")
+    suffix = str(uuid.uuid4())[1:6]
+    success_isvc_name, error_isvc_name, success_isvc, error_isvc = setup_isvcs_for_test(
+        suffix
+    )
+    logging.info(f"success_isvc_name is {success_isvc_name}")
+    logging.info(f"error_isvc_name is {error_isvc_name}")
+
+    kserve_client = KServeClient(
+        config_file=os.environ.get("KUBECONFIG", "~/.kube/config")
+    )
+    kserve_client.create(success_isvc)
+    kserve_client.create(error_isvc)
+
+    # Create graph
+    graph_name = "-".join(["ensemble-graph", suffix])
+
+    # Because we run from test/e2e location in run-e2e-tests.sh
+    deployment_yaml_path = os.path.join(
+        IG_TEST_RESOURCES_BASE_LOCATION, "ig_test_ensemble_scenario_7.yaml"
+    )
+
+    # Read YAML file
+    with open(deployment_yaml_path, "r") as stream:
+        file_content = stream.read()
+        resource_template = Template(file_content)
+        substitutions = {
+            "graph_name": graph_name,
+            "error_404_isvc_id": error_isvc_name,
+            "success_200_isvc_id": success_isvc_name,
+        }
+        resource_body_after_rendering = yaml.safe_load(
+            resource_template.render(substitutions)
+        )
+        create_ig_using_custom_object_api(resource_body_after_rendering)
+
+    kserve_client.wait_isvc_ready(success_isvc_name, namespace=KSERVE_TEST_NAMESPACE)
+    kserve_client.wait_isvc_ready(error_isvc_name, namespace=KSERVE_TEST_NAMESPACE)
+    kserve_client.wait_ig_ready(graph_name, namespace=KSERVE_TEST_NAMESPACE)
+
+    response = predict_ig(
+        graph_name,
+        os.path.join(
+            IG_TEST_RESOURCES_BASE_LOCATION, "switch_call_success_picker_input.json"
+        ),
+    )
+
+    assert response == {
+        "rootStep1": {"message": "SUCCESS"},
+        "rootStep2": {"detail": "Intentional 404 code"},
+    }
+
+    kserve_client.delete_inference_graph(graph_name, KSERVE_TEST_NAMESPACE)
+    kserve_client.delete(success_isvc_name, KSERVE_TEST_NAMESPACE)
+    kserve_client.delete(error_isvc_name, KSERVE_TEST_NAMESPACE)
+
+
+@pytest.mark.graph
+@pytest.mark.kourier
+def test_ig_scenario8():
+    """
+    Scenario: Ensemble graph with 3 steps, where 2 steps are soft and 1 step is hard and returns non-200
+
+    Expectation: Since HARD step will return non-200, so IG will return that step's output as IG's output
+    """
+    logging.info("Starting test test_ig_scenario8")
+    suffix = str(uuid.uuid4())[1:6]
+    success_isvc_name, error_isvc_name, success_isvc, error_isvc = setup_isvcs_for_test(
+        suffix
+    )
+    logging.info(f"success_isvc_name is {success_isvc_name}")
+    logging.info(f"error_isvc_name is {error_isvc_name}")
+
+    kserve_client = KServeClient(
+        config_file=os.environ.get("KUBECONFIG", "~/.kube/config")
+    )
+    kserve_client.create(success_isvc)
+    kserve_client.create(error_isvc)
+
+    # Create graph
+    graph_name = "-".join(["ensemble-graph", suffix])
+
+    # Because we run from test/e2e location in run-e2e-tests.sh
+    deployment_yaml_path = os.path.join(
+        IG_TEST_RESOURCES_BASE_LOCATION, "ig_test_ensemble_scenario_8.yaml"
+    )
+
+    # Read YAML file
+    with open(deployment_yaml_path, "r") as stream:
+        file_content = stream.read()
+        resource_template = Template(file_content)
+        substitutions = {
+            "graph_name": graph_name,
+            "error_404_isvc_id": error_isvc_name,
+            "success_200_isvc_id": success_isvc_name,
+        }
+        resource_body_after_rendering = yaml.safe_load(
+            resource_template.render(substitutions)
+        )
+        create_ig_using_custom_object_api(resource_body_after_rendering)
+
+    kserve_client.wait_isvc_ready(success_isvc_name, namespace=KSERVE_TEST_NAMESPACE)
+    kserve_client.wait_isvc_ready(error_isvc_name, namespace=KSERVE_TEST_NAMESPACE)
+    kserve_client.wait_ig_ready(graph_name, namespace=KSERVE_TEST_NAMESPACE)
+
+    with pytest.raises(HTTPError) as exc_info:
+        predict_ig(
+            graph_name,
+            os.path.join(
+                IG_TEST_RESOURCES_BASE_LOCATION, "switch_call_success_picker_input.json"
+            ),
+        )
+
+    assert exc_info.value.response.json() == {"detail": "Intentional 404 code"}
+
+    kserve_client.delete_inference_graph(graph_name, KSERVE_TEST_NAMESPACE)
+    kserve_client.delete(success_isvc_name, KSERVE_TEST_NAMESPACE)
+    kserve_client.delete(error_isvc_name, KSERVE_TEST_NAMESPACE)
diff --git a/test/scripts/gh-actions/build-graph-tests-images.sh b/test/scripts/gh-actions/build-graph-tests-images.sh
new file mode 100755
index 00000000000..3660f6187b6
--- /dev/null
+++ b/test/scripts/gh-actions/build-graph-tests-images.sh
@@ -0,0 +1,35 @@
+#!/bin/bash
+
+# Copyright 2022 The KServe Authors.
+#
+# 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.
+
+# The script is used to build all the queue-proxy extension image.
+
+set -o errexit
+set -o nounset
+set -o pipefail
+echo "Github SHA ${GITHUB_SHA}"
+export SUCCESS_200_ISVC_IMG=kserve/success-200-isvc:${GITHUB_SHA}
+export ERROR_404_ISVC_IMG=kserve/error-404-isvc:${GITHUB_SHA}
+
+pushd python >/dev/null
+echo "Building success_200_isvc image"
+docker buildx build -t ${SUCCESS_200_ISVC_IMG} -f success_200_isvc.Dockerfile .
+echo "Done building success_200_isvc image"
+echo "Building error_404_isvc image"
+docker buildx build -t ${ERROR_404_ISVC_IMG} -f error_404_isvc.Dockerfile .
+echo "Done building error_404_isvc image"
+popd
+echo "Done building images"
+
diff --git a/test/scripts/gh-actions/build-images.sh b/test/scripts/gh-actions/build-images.sh
index fffa2a76a6a..d43f802fa78 100755
--- a/test/scripts/gh-actions/build-images.sh
+++ b/test/scripts/gh-actions/build-images.sh
@@ -25,6 +25,7 @@ echo "Github SHA ${GITHUB_SHA}"
 export CONTROLLER_IMG=kserve/kserve-controller:${GITHUB_SHA}
 STORAGE_INIT_IMG=kserve/storage-initializer:${GITHUB_SHA}
 AGENT_IMG=kserve/agent:${GITHUB_SHA}
+ROUTER_IMG=kserve/router:${GITHUB_SHA}
 
 
 echo "Building Kserve controller image"
@@ -33,6 +34,9 @@ docker buildx build . -t ${CONTROLLER_IMG}
 echo "Building agent image"
 docker buildx build -f agent.Dockerfile . -t ${AGENT_IMG}
 
+echo "Building router image"
+docker buildx build -f router.Dockerfile . -t ${ROUTER_IMG}
+
 pushd python >/dev/null
   echo "Building storage initializer"
   docker buildx build -t ${STORAGE_INIT_IMG} -f storage-initializer.Dockerfile .
diff --git a/test/scripts/gh-actions/run-e2e-tests.sh b/test/scripts/gh-actions/run-e2e-tests.sh
index dbc49b99f15..17443f12a40 100755
--- a/test/scripts/gh-actions/run-e2e-tests.sh
+++ b/test/scripts/gh-actions/run-e2e-tests.sh
@@ -21,7 +21,14 @@ set -o nounset
 set -o pipefail
 
 echo "Starting E2E functional tests ..."
+if [ $# -eq 2 ]; then
+  echo "Parallelism requested for pytest is $2"
+else
+  echo "No parallelism requested for pytest. Will use default value of 1"
+fi
+
+PARALLELISM="${2:-1}"
 source python/kserve/.venv/bin/activate
 pushd test/e2e >/dev/null
-  pytest -m "$1" --ignore=qpext --log-level=INFO
+  pytest -m "$1" --ignore=qpext --log-level=INFO -o log_cli=true -n $PARALLELISM
 popd