diff --git a/pyproject.toml b/pyproject.toml
index e7debf78dc..bdcbd77801 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -46,9 +46,6 @@ dependencies = [
   "libusb1",
   "spidev; platform_system == 'Linux'",
 
-  # modeld
-  "onnx >= 1.14.0",
-
   # logging
   "pyzmq",
   "sentry-sdk",
diff --git a/scripts/reporter.py b/scripts/reporter.py
index 903fcc8911..d894b8af48 100755
--- a/scripts/reporter.py
+++ b/scripts/reporter.py
@@ -1,17 +1,33 @@
 #!/usr/bin/env python3
 import os
 import glob
-import onnx
+
+from tinygrad.nn.onnx import OnnxPBParser
 
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+
 MASTER_PATH = os.getenv("MASTER_PATH", BASEDIR)
 MODEL_PATH = "/selfdrive/modeld/models/"
 
+
+class MetadataOnnxPBParser(OnnxPBParser):
+  def _parse_ModelProto(self) -> dict:
+    obj = {"metadata_props": []}
+    for fid, wire_type in self._parse_message(self.reader.len):
+      match fid:
+        case 14:
+          obj["metadata_props"].append(self._parse_StringStringEntryProto())
+        case _:
+          self.reader.skip_field(wire_type)
+    return obj
+
+
 def get_checkpoint(f):
-  model = onnx.load(f)
-  metadata = {prop.key: prop.value for prop in model.metadata_props}
+  model = MetadataOnnxPBParser(f).parse()
+  metadata = {prop["key"]: prop["value"] for prop in model["metadata_props"]}
   return metadata['model_checkpoint'].split('/')[0]
 
+
 if __name__ == "__main__":
   print("| | master | PR branch |")
   print("|-| -----  | --------- |")
@@ -24,8 +40,4 @@ if __name__ == "__main__":
     fn = os.path.basename(f)
     master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
     pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
-    print(
-      "|", fn, "|",
-      f"[{master}](https://reporter.comma.life/experiment/{master})", "|",
-      f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|"
-    )
+    print("|", fn, "|", f"[{master}](https://reporter.comma.life/experiment/{master})", "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index ed5c50beb3..95ac06bb1a 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -13,19 +13,20 @@ tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "
 def estimate_pickle_max_size(onnx_size):
   return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty
 
-# Get model metadata
-for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
-  fn = File(f"models/{model_name}").abspath
-  script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
-  cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
-  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
-
 # compile warp
 # THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
 tg_flags = {
     'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
     'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
 }.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0')
+
+# Get model metadata
+for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
+  fn = File(f"models/{model_name}").abspath
+  script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
+  cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
+  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
+
 image_flag = {
      'larch64': 'IMAGE=2',
 }.get(arch, 'IMAGE=0')
diff --git a/selfdrive/modeld/get_model_metadata.py b/selfdrive/modeld/get_model_metadata.py
index 2001d23d75..838b1e9f40 100755
--- a/selfdrive/modeld/get_model_metadata.py
+++ b/selfdrive/modeld/get_model_metadata.py
@@ -1,33 +1,51 @@
 #!/usr/bin/env python3
 import sys
 import pathlib
-import onnx
 import codecs
 import pickle
 from typing import Any
 
-def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
-  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
-  name = value_info.name
+from tinygrad.nn.onnx import OnnxPBParser
+
+
+class MetadataOnnxPBParser(OnnxPBParser):
+  def _parse_ModelProto(self) -> dict:
+    obj: dict[str, Any] = {"graph": {"input": [], "output": []}, "metadata_props": []}
+    for fid, wire_type in self._parse_message(self.reader.len):
+      match fid:
+        case 7:
+          obj["graph"] = self._parse_GraphProto()
+        case 14:
+          obj["metadata_props"].append(self._parse_StringStringEntryProto())
+        case _:
+          self.reader.skip_field(wire_type)
+    return obj
+
+
+def get_name_and_shape(value_info: dict[str, Any]) -> tuple[str, tuple[int, ...]]:
+  shape = tuple(int(dim) if isinstance(dim, int) else 0 for dim in value_info["parsed_type"].shape)
+  name = value_info["name"]
   return name, shape
 
-def get_metadata_value_by_name(model:onnx.ModelProto, name:str) -> str | Any:
-  for prop in model.metadata_props:
-    if prop.key == name:
-      return prop.value
+
+def get_metadata_value_by_name(model: dict[str, Any], name: str) -> str | Any:
+  for prop in model["metadata_props"]:
+    if prop["key"] == name:
+      return prop["value"]
   return None
 
+
 if __name__ == "__main__":
   model_path = pathlib.Path(sys.argv[1])
-  model = onnx.load(str(model_path))
+  model = MetadataOnnxPBParser(model_path).parse()
   output_slices = get_metadata_value_by_name(model, 'output_slices')
   assert output_slices is not None, 'output_slices not found in metadata'
 
   metadata = {
     'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
     'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
-    'input_shapes': dict([get_name_and_shape(x) for x in model.graph.input]),
-    'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output])
+    'input_shapes': dict(get_name_and_shape(x) for x in model["graph"]["input"]),
+    'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
   }
 
   metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
diff --git a/uv.lock b/uv.lock
index 658f62a331..9094417693 100644
--- a/uv.lock
+++ b/uv.lock
@@ -696,22 +696,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/9f/d4/029f984e8d3f3b6b726bd33cafc473b75e9e44c0f7e80a5b29abc466bdea/mkdocs_get_deps-0.2.0-py3-none-any.whl", hash = "sha256:2bf11d0b133e77a0dd036abeeb06dec8775e46efa526dc70667d8863eefc6134", size = 9521, upload-time = "2023-11-20T17:51:08.587Z" },
 ]
 
-[[package]]
-name = "ml-dtypes"
-version = "0.5.4"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "numpy" },
-]
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-    { url = "https://files.pythonhosted.org/packages/54/0f/428ef6881782e5ebb7eca459689448c0394fa0a80bea3aa9262cba5445ea/ml_dtypes-0.5.4-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:a7f7c643e8b1320fd958bf098aa7ecf70623a42ec5154e3be3be673f4c34d900", size = 5028464, upload-time = "2025-11-17T22:31:50.135Z" },
-    { url = "https://files.pythonhosted.org/packages/3a/cb/28ce52eb94390dda42599c98ea0204d74799e4d8047a0eb559b6fd648056/ml_dtypes-0.5.4-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:9ad459e99793fa6e13bd5b7e6792c8f9190b4e5a1b45c63aba14a4d0a7f1d5ff", size = 5009002, upload-time = "2025-11-17T22:31:52.001Z" },
-    { url = "https://files.pythonhosted.org/packages/f5/f0/0cfadd537c5470378b1b32bd859cf2824972174b51b873c9d95cfd7475a5/ml_dtypes-0.5.4-cp312-cp312-win_amd64.whl", hash = "sha256:c1a953995cccb9e25a4ae19e34316671e4e2edaebe4cf538229b1fc7109087b7", size = 212222, upload-time = "2025-11-17T22:31:53.742Z" },
-    { url = "https://files.pythonhosted.org/packages/16/2e/9acc86985bfad8f2c2d30291b27cd2bb4c74cea08695bd540906ed744249/ml_dtypes-0.5.4-cp312-cp312-win_arm64.whl", hash = "sha256:9bad06436568442575beb2d03389aa7456c690a5b05892c471215bfd8cf39460", size = 160793, upload-time = "2025-11-17T22:31:55.358Z" },
-]
-
 [[package]]
 name = "mpmath"
 version = "1.3.0"
@@ -772,26 +756,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/2f/a3/56c5c604fae6dd40fa2ed3040d005fca97e91bd320d232ac9931d77ba13c/numpy-2.4.2-cp312-cp312-win_arm64.whl", hash = "sha256:fbde1b0c6e81d56f5dccd95dd4a711d9b95df1ae4009a60887e56b27e8d903fa", size = 10220171, upload-time = "2026-01-31T23:11:14.684Z" },
 ]
 
-[[package]]
-name = "onnx"
-version = "1.20.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "ml-dtypes" },
-    { name = "numpy" },
-    { name = "protobuf" },
-    { name = "typing-extensions" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/3b/8a/335c03a8683a88a32f9a6bb98899ea6df241a41df64b37b9696772414794/onnx-1.20.1.tar.gz", hash = "sha256:ded16de1df563d51fbc1ad885f2a426f814039d8b5f4feb77febe09c0295ad67", size = 12048980, upload-time = "2026-01-10T01:40:03.043Z" }
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-]
-
 [[package]]
 name = "opencv-python-headless"
 version = "4.13.0.92"
@@ -833,7 +797,6 @@ dependencies = [
     { name = "libusb1" },
     { name = "ncurses" },
     { name = "numpy" },
-    { name = "onnx" },
     { name = "openssl3" },
     { name = "psutil" },
     { name = "pycapnp" },
@@ -918,7 +881,6 @@ requires-dist = [
     { name = "mkdocs", marker = "extra == 'docs'" },
     { name = "ncurses", git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=releases" },
     { name = "numpy", specifier = ">=2.0" },
-    { name = "onnx", specifier = ">=1.14.0" },
     { name = "opencv-python-headless", marker = "extra == 'dev'" },
     { name = "openssl3", git = "https://github.com/commaai/dependencies.git?subdirectory=openssl3&rev=releases" },
     { name = "pre-commit-hooks", marker = "extra == 'testing'" },
@@ -1091,21 +1053,6 @@ wheels = [
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 ]
 
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 [[package]]
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 version = "7.2.2"