diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
index a691051636..97e65fbc0e 100644
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -245,7 +245,7 @@ struct ModelOutput {
 
 constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float);
 #ifdef TEMPORAL
-  constexpr int TEMPORAL_SIZE = 512+256;
+  constexpr int TEMPORAL_SIZE = 512;
 #else
   constexpr int TEMPORAL_SIZE = 0;
 #endif
diff --git a/selfdrive/modeld/models/supercombo.dlc b/selfdrive/modeld/models/supercombo.dlc
index 90f7a2e65b..23f6d904fb 100644
--- a/selfdrive/modeld/models/supercombo.dlc
+++ b/selfdrive/modeld/models/supercombo.dlc
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4c2cb3a3054f3292bbe538d6b793908dc2e234c200802d41b6766d3cb51b0b44
-size 101662751
+oid sha256:027cbb1fabae369878271cb0e3505071a8bdaa07473fad9a0b2e8d695c5dc1ff
+size 76725611
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 0493398560..9023c18dd7 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:96b60d0bfd1386c93b4f79195aa1c5e77b23e0250578a308ee2c58857ed5eb49
-size 102570834
+oid sha256:484976ea5bd4ddcabc82e95faf30d7311a27802c1e337472558699fa2395a499
+size 77472267
diff --git a/selfdrive/modeld/thneed/compile.cc b/selfdrive/modeld/thneed/compile.cc
index a2f55ffd97..f76c63b2b9 100644
--- a/selfdrive/modeld/thneed/compile.cc
+++ b/selfdrive/modeld/thneed/compile.cc
@@ -5,7 +5,7 @@
 #include "selfdrive/modeld/thneed/thneed.h"
 #include "system/hardware/hw.h"
 
-#define TEMPORAL_SIZE 512+256
+#define TEMPORAL_SIZE 512
 #define DESIRE_LEN 8
 #define TRAFFIC_CONVENTION_LEN 2
 
diff --git a/selfdrive/modeld/thneed/optimizer.cc b/selfdrive/modeld/thneed/optimizer.cc
index 39737d3d76..03d20ff386 100644
--- a/selfdrive/modeld/thneed/optimizer.cc
+++ b/selfdrive/modeld/thneed/optimizer.cc
@@ -9,7 +9,7 @@
 
 extern map<cl_program, string> g_program_source;
 
-/*static int is_same_size_image(cl_mem a, cl_mem b) {
+static int is_same_size_image(cl_mem a, cl_mem b) {
   size_t a_width, a_height, a_depth, a_array_size, a_row_pitch, a_slice_pitch;
   clGetImageInfo(a, CL_IMAGE_WIDTH, sizeof(a_width), &a_width, NULL);
   clGetImageInfo(a, CL_IMAGE_HEIGHT, sizeof(a_height), &a_height, NULL);
@@ -29,7 +29,7 @@ extern map<cl_program, string> g_program_source;
   return (a_width == b_width) && (a_height == b_height) &&
     (a_depth == b_depth) && (a_array_size == b_array_size) &&
     (a_row_pitch == b_row_pitch) && (a_slice_pitch == b_slice_pitch);
-}*/
+}
 
 static cl_mem make_image_like(cl_context context, cl_mem val) {
   cl_image_format format;
@@ -138,7 +138,7 @@ int Thneed::optimize() {
 
       // delete useless copy layers
       // saves ~0.7 ms
-      /*if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") {
+      if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") {
         string in = kq[i]->args[kq[i]->get_arg_num("input")];
         string out = kq[i]->args[kq[i]->get_arg_num("output")];
         if (is_same_size_image(*(cl_mem*)in.data(), *(cl_mem*)out.data())) {
@@ -148,7 +148,7 @@ int Thneed::optimize() {
 
           kq.erase(kq.begin()+i); --i;
         }
-      }*/
+      }
 
       // NOTE: if activations/accumulation are done in the wrong order, this will be wrong
 
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 0c4c2305eb..9f9b822693 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-5434b3c1696554e9a889e77f794d80cd1cb0a7ec
+df0ce74929dd6b5fa7a55224baefeff4bac6d785