I have never heard him advocate that taxpayers pay for the transition. It seems likely that the transitional savings will be adequate to justify the costs involved in the change.
The market profitability will permit the infrastructure requirements to be developed.
Pickens, Koch spar over natural gas subsidies
http://www.washingtonpost.com/blogs/2chambers/post/pickens-koch-spar-over-natural-gas-subsidies/2011/05/20/AFVjez7G_blog.html
The T. Boone Pickens Earmark Bill (Ron Paul Co-Sponsors Taxpayer Boondoggle)
http://www.freerepublic.com/focus/f-news/2719999/posts
T. Boone Pickens has a federal subsidy beef with the Koch brothers over natural gas, ethanol
http://green.autoblog.com/2011/11/25/t-boone-pickens-federal-subsidy-koch-brothers-cng-ethanol/