{"slug": "lerobot-0-6-1-transformers-5-3-leaves-pi0-image-embeddings-about-45x-too-small", "title": "LeRobot 0.6.1 + transformers 5.3 leaves pi0 image embeddings about 45x too small. Which transformers version are you on?", "summary": "A source comparison and a failed parity run found that LeRobot 0.6.1 paired with transformers 5.3.0 scales pi0 image embeddings about 45x too small, and LeRobot 0.6.1 requires transformers 5.4 or newer. With transformers 5.5.4 and a ported mask patch, the pi0 export matched the old stack at a cosine similarity of 0.9999997. The finding matters for anyone running pi0 or pi0.5 inference, since the version mismatch can distort action outputs.", "body_md": "A source comparison and a failed parity run found that LeRobot 0.6.1 with transformers 5.3.0 scales pi0 image embeddings about 45x too small. 0.6.1 needs transformers 5.4 or newer. With 5.5.4 and a ported mask patch, our pi0 export matched the old stack (cosine 0.9999997). If you run pi0 or pi0.5 inference, which transformers version is in your environment, and do your action outputs look right? I can share the comparison script.", "url": "https://wpnews.pro/news/lerobot-0-6-1-transformers-5-3-leaves-pi0-image-embeddings-about-45x-too-small", "canonical_source": "https://discuss.huggingface.co/t/lerobot-0-6-1-transformers-5-3-leaves-pi0-image-embeddings-about-45x-too-small-which-transformers-version-are-you-on/190749#post_1", "published_at": "2026-10-18 22:32:35+00:00", "updated_at": "2026-10-18 22:50:27.071841+00:00", "lang": "en", "topics": ["robotics", "machine-learning", "ai-tools", "developer-tools"], "entities": ["LeRobot", "transformers", "pi0", "pi0.5", "Hugging Face"], "also_reported_by": [], "alternates": {"html": "https://wpnews.pro/news/lerobot-0-6-1-transformers-5-3-leaves-pi0-image-embeddings-about-45x-too-small", "markdown": "https://wpnews.pro/news/lerobot-0-6-1-transformers-5-3-leaves-pi0-image-embeddings-about-45x-too-small.md", "text": "https://wpnews.pro/news/lerobot-0-6-1-transformers-5-3-leaves-pi0-image-embeddings-about-45x-too-small.txt", "jsonld": "https://wpnews.pro/news/lerobot-0-6-1-transformers-5-3-leaves-pi0-image-embeddings-about-45x-too-small.jsonld"}}