diff --git a/src/transformers/models/rt_detr/modeling_rt_detr.py b/src/transformers/models/rt_detr/modeling_rt_detr.py
index 26cf843357c641..7b546fcb4905de 100644
--- a/src/transformers/models/rt_detr/modeling_rt_detr.py
+++ b/src/transformers/models/rt_detr/modeling_rt_detr.py
@@ -1656,7 +1656,11 @@ def unfreeze_backbone(self):
             param.requires_grad_(True)
 
     @lru_cache(maxsize=32)
-    def generate_anchors(self, spatial_shapes=None, grid_size=0.05, dtype=torch.float32, device="cpu"):
+    def generate_anchors(self, spatial_shapes=None, grid_size=0.05):
+        # We always generate anchors in float32 to preserve equivalence between
+        # dynamic and static anchor inference
+        dtype = torch.float32
+
         if spatial_shapes is None:
             spatial_shapes = [
                 [int(self.config.anchor_image_size[0] / s), int(self.config.anchor_image_size[1] / s)]
@@ -1674,7 +1678,7 @@ def generate_anchors(self, spatial_shapes=None, grid_size=0.05, dtype=torch.floa
             anchors.append(torch.concat([grid_xy, wh], -1).reshape(-1, height * width, 4))
         # define the valid range for anchor coordinates
         eps = 1e-2
-        anchors = torch.concat(anchors, 1).to(device)
+        anchors = torch.concat(anchors, 1)
         valid_mask = ((anchors > eps) * (anchors < 1 - eps)).all(-1, keepdim=True)
         anchors = torch.log(anchors / (1 - anchors))
         anchors = torch.where(valid_mask, anchors, torch.inf)
@@ -1769,15 +1773,15 @@ def forward(
 
         # Prepare encoder inputs (by flattening)
         source_flatten = []
-        spatial_shapes = []
+        spatial_shapes_list = []
         for level, source in enumerate(sources):
             batch_size, num_channels, height, width = source.shape
             spatial_shape = (height, width)
-            spatial_shapes.append(spatial_shape)
+            spatial_shapes_list.append(spatial_shape)
             source = source.flatten(2).transpose(1, 2)
             source_flatten.append(source)
         source_flatten = torch.cat(source_flatten, 1)
-        spatial_shapes = torch.as_tensor(spatial_shapes, dtype=torch.long, device=source_flatten.device)
+        spatial_shapes = torch.as_tensor(spatial_shapes_list, dtype=torch.long, device=source_flatten.device)
         level_start_index = torch.cat((spatial_shapes.new_zeros((1,)), spatial_shapes.prod(1).cumsum(0)[:-1]))
 
         # prepare denoising training
@@ -1805,9 +1809,14 @@ def forward(
 
         # prepare input for decoder
         if self.training or self.config.anchor_image_size is None:
-            anchors, valid_mask = self.generate_anchors(spatial_shapes, device=device, dtype=dtype)
+            # Pass spatial_shapes as tuple to make it hashable and make sure
+            # lru_cache is working for generate_anchors()
+            spatial_shapes_tuple = tuple(spatial_shapes_list)
+            anchors, valid_mask = self.generate_anchors(spatial_shapes_tuple)
         else:
-            anchors, valid_mask = self.anchors.to(device, dtype), self.valid_mask.to(device, dtype)
+            anchors, valid_mask = self.anchors, self.valid_mask
+
+        anchors, valid_mask = anchors.to(device, dtype), valid_mask.to(device, dtype)
 
         # use the valid_mask to selectively retain values in the feature map where the mask is `True`
         memory = valid_mask.to(source_flatten.dtype) * source_flatten
diff --git a/tests/models/rt_detr/test_modeling_rt_detr.py b/tests/models/rt_detr/test_modeling_rt_detr.py
index 2d3d48dba33125..7de4d3b869d12b 100644
--- a/tests/models/rt_detr/test_modeling_rt_detr.py
+++ b/tests/models/rt_detr/test_modeling_rt_detr.py
@@ -16,6 +16,7 @@
 
 import inspect
 import math
+import tempfile
 import unittest
 
 from parameterized import parameterized
@@ -630,6 +631,48 @@ def test_inference_with_different_dtypes(self, torch_dtype_str):
             with torch.no_grad():
                 _ = model(**self._prepare_for_class(inputs_dict, model_class))
 
+    @parameterized.expand(["float32", "float16", "bfloat16"])
+    @require_torch_gpu
+    @slow
+    def test_inference_equivalence_for_static_and_dynamic_anchors(self, torch_dtype_str):
+        torch_dtype = {
+            "float32": torch.float32,
+            "float16": torch.float16,
+            "bfloat16": torch.bfloat16,
+        }[torch_dtype_str]
+
+        config, inputs_dict = self.model_tester.prepare_config_and_inputs_for_common()
+        h, w = inputs_dict["pixel_values"].shape[-2:]
+
+        # convert inputs to the desired dtype
+        for key, tensor in inputs_dict.items():
+            if tensor.dtype == torch.float32:
+                inputs_dict[key] = tensor.to(torch_dtype)
+
+        for model_class in self.all_model_classes:
+            with tempfile.TemporaryDirectory() as tmpdirname:
+                model_class(config).save_pretrained(tmpdirname)
+                model_static = model_class.from_pretrained(
+                    tmpdirname, anchor_image_size=[h, w], device_map=torch_device, torch_dtype=torch_dtype
+                ).eval()
+                model_dynamic = model_class.from_pretrained(
+                    tmpdirname, anchor_image_size=None, device_map=torch_device, torch_dtype=torch_dtype
+                ).eval()
+
+            self.assertIsNotNone(model_static.config.anchor_image_size)
+            self.assertIsNone(model_dynamic.config.anchor_image_size)
+
+            with torch.no_grad():
+                outputs_static = model_static(**self._prepare_for_class(inputs_dict, model_class))
+                outputs_dynamic = model_dynamic(**self._prepare_for_class(inputs_dict, model_class))
+
+            self.assertTrue(
+                torch.allclose(
+                    outputs_static.last_hidden_state, outputs_dynamic.last_hidden_state, rtol=1e-4, atol=1e-4
+                ),
+                f"Max diff: {(outputs_static.last_hidden_state - outputs_dynamic.last_hidden_state).abs().max()}",
+            )
+
 
 TOLERANCE = 1e-4