diff --git a/src/lerobot/policies/pi052/modeling_pi052.py b/src/lerobot/policies/pi052/modeling_pi052.py
index c429830b7..7fbf7921c 100644
--- a/src/lerobot/policies/pi052/modeling_pi052.py
+++ b/src/lerobot/policies/pi052/modeling_pi052.py
@@ -546,7 +546,7 @@ class PI052Policy(PI05Policy):
         from ..pi05.modeling_pi05 import make_att_2d_masks  # noqa: PLC0415
 
         # ---- preamble (mirrors PI05Pytorch.forward) ------------------
-        actions = self.model.prepare_action(batch)
+        actions = self.prepare_action(batch)
         noise = self.model.sample_noise(actions.shape, actions.device)
         time = self.model.sample_time(actions.shape[0], actions.device)
         time_expanded = time[:, None, None]
@@ -554,7 +554,7 @@ class PI052Policy(PI05Policy):
         u_t = noise - actions
 
         # ---- prefix: images + language + (optional FAST) -------------
-        images, img_masks = self.model._preprocess_images(batch)
+        images, img_masks = self._preprocess_images(batch)
         lang_tokens = batch[OBS_LANGUAGE_TOKENS]
         lang_masks = batch[OBS_LANGUAGE_ATTENTION_MASK]
         prefix_embs, prefix_pad, prefix_att = self.model.embed_prefix(
@@ -686,7 +686,7 @@ class PI052Policy(PI05Policy):
         """
         from ..pi05.modeling_pi05 import make_att_2d_masks  # noqa: PLC0415
 
-        images, img_masks = self.model._preprocess_images(batch)
+        images, img_masks = self._preprocess_images(batch)
         lang_tokens = batch[OBS_LANGUAGE_TOKENS]
         lang_masks = batch[OBS_LANGUAGE_ATTENTION_MASK]
 
@@ -805,7 +805,7 @@ class PI052Policy(PI05Policy):
         if eos_token_id is not None:
             special_ids.add(int(eos_token_id))
 
-        images, img_masks = self.model._preprocess_images(batch)
+        images, img_masks = self._preprocess_images(batch)
         tokens = batch[OBS_LANGUAGE_TOKENS]
         masks = batch[OBS_LANGUAGE_ATTENTION_MASK]