diff --git a/src/lerobot/policies/pi0/modeling_pi0.py b/src/lerobot/policies/pi0/modeling_pi0.py
index a9306cc79..8ea741d08 100644
--- a/src/lerobot/policies/pi0/modeling_pi0.py
+++ b/src/lerobot/policies/pi0/modeling_pi0.py
@@ -19,20 +19,30 @@ import logging
 import math
 from collections import deque
 from pathlib import Path
-from typing import Literal
+from typing import TYPE_CHECKING, Literal
 
 import torch
 import torch.nn.functional as F  # noqa: N812
 from torch import Tensor, nn
-from transformers.models.auto import CONFIG_MAPPING
-from transformers.models.gemma import modeling_gemma
-from transformers.models.gemma.modeling_gemma import GemmaForCausalLM
-from transformers.models.paligemma.modeling_paligemma import PaliGemmaForConditionalGeneration
+
+from lerobot.utils.import_utils import _transformers_available
+
+# Conditional import for type checking and lazy loading
+if TYPE_CHECKING or _transformers_available:
+    from transformers.models.auto import CONFIG_MAPPING
+    from transformers.models.gemma import modeling_gemma
+    from transformers.models.gemma.modeling_gemma import GemmaForCausalLM
+    from transformers.models.paligemma.modeling_paligemma import PaliGemmaForConditionalGeneration
+else:
+    CONFIG_MAPPING = None
+    modeling_gemma = None
+    GemmaForCausalLM = None
+    PaliGemmaForConditionalGeneration = None
 
 from lerobot.configs.policies import PreTrainedConfig
-from lerobot.constants import ACTION, OBS_LANGUAGE_ATTENTION_MASK, OBS_LANGUAGE_TOKENS, OBS_STATE
 from lerobot.policies.pi0.configuration_pi0 import PI0Config
 from lerobot.policies.pretrained import PreTrainedPolicy, T
+from lerobot.utils.constants import ACTION, OBS_LANGUAGE_ATTENTION_MASK, OBS_LANGUAGE_TOKENS, OBS_STATE
 
 
 # Helper functions
diff --git a/src/lerobot/policies/pi05/modeling_pi05.py b/src/lerobot/policies/pi05/modeling_pi05.py
index 6a87caead..8db75913c 100644
--- a/src/lerobot/policies/pi05/modeling_pi05.py
+++ b/src/lerobot/policies/pi05/modeling_pi05.py
@@ -19,20 +19,30 @@ import logging
 import math
 from collections import deque
 from pathlib import Path
-from typing import Literal
+from typing import TYPE_CHECKING, Literal
 
 import torch
 import torch.nn.functional as F  # noqa: N812
 from torch import Tensor, nn
-from transformers.models.auto import CONFIG_MAPPING
-from transformers.models.gemma import modeling_gemma
-from transformers.models.gemma.modeling_gemma import GemmaForCausalLM
-from transformers.models.paligemma.modeling_paligemma import PaliGemmaForConditionalGeneration
+
+from lerobot.utils.import_utils import _transformers_available
+
+# Conditional import for type checking and lazy loading
+if TYPE_CHECKING or _transformers_available:
+    from transformers.models.auto import CONFIG_MAPPING
+    from transformers.models.gemma import modeling_gemma
+    from transformers.models.gemma.modeling_gemma import GemmaForCausalLM
+    from transformers.models.paligemma.modeling_paligemma import PaliGemmaForConditionalGeneration
+else:
+    CONFIG_MAPPING = None
+    modeling_gemma = None
+    GemmaForCausalLM = None
+    PaliGemmaForConditionalGeneration = None
 
 from lerobot.configs.policies import PreTrainedConfig
-from lerobot.constants import ACTION, OBS_LANGUAGE_ATTENTION_MASK, OBS_LANGUAGE_TOKENS
 from lerobot.policies.pi05.configuration_pi05 import PI05Config
 from lerobot.policies.pretrained import PreTrainedPolicy, T
+from lerobot.utils.constants import ACTION, OBS_LANGUAGE_ATTENTION_MASK, OBS_LANGUAGE_TOKENS
 
 
 # Helper functions
diff --git a/src/lerobot/policies/pi05/processor_pi05.py b/src/lerobot/policies/pi05/processor_pi05.py
index 9ec58d3e8..c7523d167 100644
--- a/src/lerobot/policies/pi05/processor_pi05.py
+++ b/src/lerobot/policies/pi05/processor_pi05.py
@@ -22,7 +22,6 @@ import numpy as np
 import torch
 
 from lerobot.configs.types import PipelineFeatureType, PolicyFeature
-from lerobot.constants import OBS_STATE, POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 from lerobot.policies.pi05.configuration_pi05 import PI05Config
 from lerobot.policies.pi05.modeling_pi05 import pad_vector
 from lerobot.processor import (
@@ -39,6 +38,11 @@ from lerobot.processor import (
 )
 from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
 from lerobot.processor.core import EnvTransition, TransitionKey
+from lerobot.utils.constants import (
+    OBS_STATE,
+    POLICY_POSTPROCESSOR_DEFAULT_NAME,
+    POLICY_PREPROCESSOR_DEFAULT_NAME,
+)
 
 
 @ProcessorStepRegistry.register(name="pi05_prepare_state_tokenizer_processor_step")