diff --git a/sunnypilot/modeld_v2/compile_modeld.py b/sunnypilot/modeld_v2/compile_modeld.py
index 2fed23194e..a5d98d48fc 100755
--- a/sunnypilot/modeld_v2/compile_modeld.py
+++ b/sunnypilot/modeld_v2/compile_modeld.py
@@ -58,8 +58,9 @@ def make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip
     'traffic_convention': np.zeros(tc, dtype=np.float32),
     'tfm': np.zeros((3, 3), dtype=np.float32),
     'big_tfm': np.zeros((3, 3), dtype=np.float32),
-    'action_t': np.zeros(tc, dtype=np.float32),
   }
+  if 'action_t' in policy_input_shapes:
+    npy['action_t'] = np.zeros(tc, dtype=np.float32)
 
   handled = {'features_buffer', desire_key, 'traffic_convention', 'action_t'}
   for key, shape in policy_input_shapes.items():