diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py
index 7f049912dd..783231b7b8 100755
--- a/openpilot/selfdrive/modeld/modeld.py
+++ b/openpilot/selfdrive/modeld/modeld.py
@@ -163,7 +163,7 @@ class ModelState:
     return parsed_model_outputs
 
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
-          inputs: dict[str, np.ndarray]) -> dict[str, np.ndarray] | None:
+          inputs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     for key in bufs.keys():
       ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
       yuv_size = self.frame_buf_params[key][3]
@@ -189,9 +189,7 @@ class ModelState:
     )
     model_output = outs.numpy()[0]
     if self.usbgpu and not np.all(np.isfinite(model_output)):
-      # TODO remove with prev_feat
-      cloudlog.error("model output not finite, dropping frame")
-      return None
+      raise RuntimeError("model output not finite")
     outputs_dict = self.parser.parse_outputs(self.slice_outputs(model_output, self.output_slices))
     self.npy['prev_feat'][:] = model_output[self.output_slices['hidden_state']]