diff --git a/lerobot/common/policies/pi0/paligemma_with_expert.py b/lerobot/common/policies/pi0/paligemma_with_expert.py
index 76e2ce600..49c844c7b 100644
--- a/lerobot/common/policies/pi0/paligemma_with_expert.py
+++ b/lerobot/common/policies/pi0/paligemma_with_expert.py
@@ -216,7 +216,11 @@ class PaliGemmaWithExpertModel(PreTrainedModel):
                 param.data = param.data.to(dtype=torch.bfloat16)
 
     def embed_image(self, image: torch.Tensor):
-        return self.paligemma.get_image_features(image)
+        # Handle different transformers versions
+        if hasattr(self.paligemma, "get_image_features"):
+            return self.paligemma.get_image_features(image)
+        else:
+            return self.paligemma.model.get_image_features(image)
 
     def embed_language_tokens(self, tokens: torch.Tensor):
         return self.paligemma.language_model.model.embed_tokens(tokens)
diff --git a/lerobot/common/policies/pi0fast/modeling_pi0fast.py b/lerobot/common/policies/pi0fast/modeling_pi0fast.py
index 4996b1a08..a2df40f26 100644
--- a/lerobot/common/policies/pi0fast/modeling_pi0fast.py
+++ b/lerobot/common/policies/pi0fast/modeling_pi0fast.py
@@ -878,7 +878,11 @@ class PI0FAST(nn.Module):
         return actions
 
     def embed_image(self, image: torch.Tensor):
-        return self.pi0_paligemma.get_image_features(image)
+        # Handle different transformers versions
+        if hasattr(self.pi0_paligemma, "get_image_features"):
+            return self.pi0_paligemma.get_image_features(image)
+        else:
+            return self.pi0_paligemma.model.get_image_features(image)
 
     def embed_inputs(
         self,