diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index b33d59e98..589673e40 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -42,7 +42,7 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
 VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
 POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
 
-LAT_SMOOTH_SECONDS = 0.1
+LAT_SMOOTH_SECONDS = 0.0
 LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3
 
diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx
index c0315b724..e42bb8ea9 100644
Binary files a/selfdrive/modeld/models/driving_policy.onnx and b/selfdrive/modeld/models/driving_policy.onnx differ
diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx
index ac18efb0b..902f1dd34 100644
Binary files a/selfdrive/modeld/models/driving_vision.onnx and b/selfdrive/modeld/models/driving_vision.onnx differ