diff --git a/selfdrive/modeld/runners/onnx_runner.py b/selfdrive/modeld/runners/onnx_runner.py
index 3b19550e8f..7447c33aa6 100755
--- a/selfdrive/modeld/runners/onnx_runner.py
+++ b/selfdrive/modeld/runners/onnx_runner.py
@@ -25,6 +25,11 @@ def write(d):
 def run_loop(m):
   ishapes = [[1]+ii.shape[1:] for ii in m.get_inputs()]
   keys = [x.name for x in m.get_inputs()]
+
+  # run once to initialize CUDA runner if regenerating routes
+  if "CUDAExecutionProvider" in m.get_providers() and "ONNX_INIT_PREDICTION" in os.environ:
+    m.run(None, dict(zip(keys, [np.zeros(shp, dtype=np.float32) for shp in ishapes])))
+
   print("ready to run onnx model", keys, ishapes, file=sys.stderr)
   while 1:
     inputs = []
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index d1beabaaaf..c4ec4be7d7 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -6,6 +6,7 @@ from tqdm import tqdm
 import argparse
 # run DM procs
 os.environ["USE_WEBCAM"] = "1"
+os.environ["ONNX_INIT_PREDICTION"] = "1"
 
 import cereal.messaging as messaging
 from cereal.services import service_list
@@ -218,6 +219,10 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA):
   }
 
   try:
+    # modeld needs time to initialize due to onnx cuda runner
+    managed_processes["modeld"].start()
+    time.sleep(5)
+
     # start procs up
     ignore = list(fake_daemons.keys()) + ['ui', 'manage_athenad', 'uploader']
     ensure_running(managed_processes.values(), started=True, not_run=ignore)
@@ -243,9 +248,9 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA):
   del vs
 
   segment = params.get("CurrentRoute", encoding='utf-8') + "--0"
-  seg_path = os.path.join(outdir, segment, "rlog.bz2")
+  seg_path = os.path.join(outdir, segment)
   # check to make sure openpilot is engaged in the route
-  if not check_enabled(LogReader(seg_path)):
+  if not check_enabled(LogReader(os.path.join(seg_path, "rlog.bz2"))):
     raise Exception(f"Route never enabled: {segment}")
 
   return seg_path