diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index 9def7e49e3..4575199943 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -22,16 +22,24 @@ ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
   loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
 }
 
-float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, const mat3 &transform) {
+float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, const mat3 &transform, cl_mem *output) {
   transform_queue(&this->transform, q,
                   yuv_cl, frame_width, frame_height,
                   y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, transform);
-  loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
 
-  std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(float) * MODEL_FRAME_SIZE);
-  clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(float), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr);
-  clFinish(q);
-  return &input_frames[0];
+  if (output == NULL) {
+    loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
+
+    std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(float) * MODEL_FRAME_SIZE);
+    CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(float), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
+    clFinish(q);
+    return &input_frames[0];
+  } else {
+    loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, *output, true);
+    // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
+    clFinish(q);
+    return NULL;
+  }
 }
 
 ModelFrame::~ModelFrame() {
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
index e4e6563d7c..d7904489b1 100644
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -30,7 +30,7 @@ class ModelFrame {
  public:
   ModelFrame(cl_device_id device_id, cl_context context);
   ~ModelFrame();
-  float* prepare(cl_mem yuv_cl, int width, int height, const mat3& transform);
+  float* prepare(cl_mem yuv_cl, int width, int height, const mat3& transform, cl_mem *output);
 
   const int buf_size = MODEL_FRAME_SIZE * 2;
 
diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
index 0ebb9a374b..c1ce11bea2 100644
--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@@ -105,7 +105,8 @@ ModelDataRaw model_eval_frame(ModelState* s, cl_mem yuv_cl, int width, int heigh
 
   //for (int i = 0; i < OUTPUT_SIZE + TEMPORAL_SIZE; i++) { printf("%f ", s->output[i]); } printf("\n");
 
-  auto net_input_buf = s->frame->prepare(yuv_cl, width, height, transform);
+  // if getInputBuf is not NULL, net_input_buf will be
+  auto net_input_buf = s->frame->prepare(yuv_cl, width, height, transform, static_cast<cl_mem*>(s->m->getInputBuf()));
   s->m->execute(net_input_buf, s->frame->buf_size);
 
   // net outputs
diff --git a/selfdrive/modeld/runners/runmodel.h b/selfdrive/modeld/runners/runmodel.h
index 9eb7e1ea6c..0893a4acc6 100644
--- a/selfdrive/modeld/runners/runmodel.h
+++ b/selfdrive/modeld/runners/runmodel.h
@@ -5,5 +5,6 @@ public:
   virtual void addDesire(float *state, int state_size) {}
   virtual void addTrafficConvention(float *state, int state_size) {}
   virtual void execute(float *net_input_buf, int buf_size) {}
+  virtual void* getInputBuf() { return nullptr; }
 };
 
diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc
index be782b9741..0beb6a2794 100644
--- a/selfdrive/modeld/runners/thneedmodel.cc
+++ b/selfdrive/modeld/runners/thneedmodel.cc
@@ -25,6 +25,11 @@ void ThneedModel::addDesire(float *state, int state_size) {
   desire = state;
 }
 
+void* ThneedModel::getInputBuf() {
+  if (thneed->input_clmem.size() > 3) return &(thneed->input_clmem[3]);
+  else return nullptr;
+}
+
 void ThneedModel::execute(float *net_input_buf, int buf_size) {
   float *inputs[4] = {recurrent, trafficConvention, desire, net_input_buf};
   if (!recorded) {
diff --git a/selfdrive/modeld/runners/thneedmodel.h b/selfdrive/modeld/runners/thneedmodel.h
index 933c751d96..1720d5ff20 100644
--- a/selfdrive/modeld/runners/thneedmodel.h
+++ b/selfdrive/modeld/runners/thneedmodel.h
@@ -10,6 +10,7 @@ public:
   void addTrafficConvention(float *state, int state_size);
   void addDesire(float *state, int state_size);
   void execute(float *net_input_buf, int buf_size);
+  void* getInputBuf();
 private:
   Thneed *thneed = NULL;
   bool recorded;
diff --git a/selfdrive/modeld/thneed/thneed.cc b/selfdrive/modeld/thneed/thneed.cc
index 89fdfe3910..242905d9f4 100644
--- a/selfdrive/modeld/thneed/thneed.cc
+++ b/selfdrive/modeld/thneed/thneed.cc
@@ -241,6 +241,7 @@ void Thneed::find_inputs_outputs() {
     for (int i = 0; i < k->num_args; i++) {
       if (k->name == "zero_pad_image_float" && k->arg_names[i] == "input") {
         cl_mem aa = *(cl_mem*)(k->args[i].data());
+        input_clmem.push_back(aa);
 
         size_t sz;
         clGetMemObjectInfo(aa, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
@@ -262,7 +263,7 @@ void Thneed::copy_inputs(float **finputs) {
   //cl_int ret;
   for (int idx = 0; idx < inputs.size(); ++idx) {
     if (record & THNEED_DEBUG) printf("copying %lu -- %p -> %p\n", input_sizes[idx], finputs[idx], inputs[idx]);
-    memcpy(inputs[idx], finputs[idx], input_sizes[idx]);
+    if (finputs[idx] != NULL) memcpy(inputs[idx], finputs[idx], input_sizes[idx]);
   }
 }
 
diff --git a/selfdrive/modeld/thneed/thneed.h b/selfdrive/modeld/thneed/thneed.h
index 1ae7247477..77d27e0435 100644
--- a/selfdrive/modeld/thneed/thneed.h
+++ b/selfdrive/modeld/thneed/thneed.h
@@ -98,6 +98,7 @@ class Thneed {
     void wait();
     int optimize();
 
+    vector<cl_mem> input_clmem;
     vector<void *> inputs;
     vector<size_t> input_sizes;
     cl_mem output = NULL;
diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc
index 9f3dd45aad..39f404a897 100644
--- a/selfdrive/modeld/transforms/loadyuv.cc
+++ b/selfdrive/modeld/transforms/loadyuv.cc
@@ -19,6 +19,7 @@ void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int w
 
   s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
   s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
+  s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
 
   // done with this
   CL_CHECK(clReleaseProgram(prg));
@@ -27,33 +28,46 @@ void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int w
 void loadyuv_destroy(LoadYUVState* s) {
   CL_CHECK(clReleaseKernel(s->loadys_krnl));
   CL_CHECK(clReleaseKernel(s->loaduv_krnl));
+  CL_CHECK(clReleaseKernel(s->copy_krnl));
 }
 
 void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
                    cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl) {
+                   cl_mem out_cl, bool do_shift) {
+  cl_int global_out_off = 0;
+  if (do_shift) {
+    // shift the image in slot 1 to slot 0, then place the new image in slot 1
+    global_out_off += (s->width*s->height) + (s->width/2)*(s->height/2)*2;
+    CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &out_cl));
+    CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_int), &global_out_off));
+    const size_t copy_work_size = global_out_off/8;
+    CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
+                                &copy_work_size, NULL, 0, 0, NULL));
+  }
+
   CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
   CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
+  CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
 
   const size_t loadys_work_size = (s->width*s->height)/8;
   CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
                                &loadys_work_size, NULL, 0, 0, NULL));
 
   const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
-  cl_int loaduv_out_off = (s->width*s->height);
+  global_out_off += (s->width*s->height);
 
   CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
   CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &loaduv_out_off));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
 
   CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
                                &loaduv_work_size, NULL, 0, 0, NULL));
 
-  loaduv_out_off += (s->width/2)*(s->height/2);
+  global_out_off += (s->width/2)*(s->height/2);
 
   CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
   CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &loaduv_out_off));
+  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
 
   CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
                                &loaduv_work_size, NULL, 0, 0, NULL));
diff --git a/selfdrive/modeld/transforms/loadyuv.cl b/selfdrive/modeld/transforms/loadyuv.cl
index fc7655b568..7dd3d973a3 100644
--- a/selfdrive/modeld/transforms/loadyuv.cl
+++ b/selfdrive/modeld/transforms/loadyuv.cl
@@ -1,7 +1,8 @@
 #define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
 
 __kernel void loadys(__global uchar8 const * const Y,
-                     __global float * out)
+                     __global float * out,
+                     int out_offset)
 {
     const int gid = get_global_id(0);
     const int ois = gid * 8;
@@ -17,11 +18,11 @@ __kernel void loadys(__global uchar8 const * const Y,
     __global float* outy0;
     __global float* outy1;
     if ((oy & 1) == 0) {
-      outy0 = out; //y0
-      outy1 = out + UV_SIZE*2; //y2
+      outy0 = out + out_offset; //y0
+      outy1 = out + out_offset + UV_SIZE*2; //y2
     } else {
-      outy0 = out + UV_SIZE; //y1
-      outy1 = out + UV_SIZE*3; //y3
+      outy0 = out + out_offset + UV_SIZE; //y1
+      outy1 = out + out_offset + UV_SIZE*3; //y3
     }
 
     vstore4(ysf.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
@@ -37,3 +38,10 @@ __kernel void loaduv(__global uchar8 const * const in,
   const float8 outv  = convert_float8(inv);
   out[gid + out_offset / 8] = outv;
 }
+
+__kernel void copy(__global float8 * inout,
+                   int in_offset)
+{
+  const int gid = get_global_id(0);
+  inout[gid] = inout[gid + in_offset / 8];
+}
diff --git a/selfdrive/modeld/transforms/loadyuv.h b/selfdrive/modeld/transforms/loadyuv.h
index a77258debd..a3161b2935 100644
--- a/selfdrive/modeld/transforms/loadyuv.h
+++ b/selfdrive/modeld/transforms/loadyuv.h
@@ -4,7 +4,7 @@
 
 typedef struct {
   int width, height;
-  cl_kernel loadys_krnl, loaduv_krnl;
+  cl_kernel loadys_krnl, loaduv_krnl, copy_krnl;
 } LoadYUVState;
 
 void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
@@ -13,4 +13,4 @@ void loadyuv_destroy(LoadYUVState* s);
 
 void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
                    cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl);
+                   cl_mem out_cl, bool do_shift = false);