chore(utils): move benchmark and buffer to their respective modules (#2028)

benchmarks/video/run_video_benchmark.py

@@ -35,12 +35,12 @@ import torch
 from skimage.metrics import mean_squared_error, peak_signal_noise_ratio, structural_similarity
 from tqdm import tqdm
 
+from benchmarks.video.benchmark import TimeBenchmark
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.video_utils import (
     decode_video_frames_torchvision,
     encode_video_frames,
 )
-from lerobot.utils.benchmark import TimeBenchmark
 
 BASE_ENCODING = OrderedDict(
     [

src/lerobot/rl/learner.py

@@ -66,6 +66,7 @@ from lerobot.datasets.factory import make_dataset
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.policies.factory import make_policy
 from lerobot.policies.sac.modeling_sac import SACPolicy
+from lerobot.rl.buffer import ReplayBuffer, concatenate_batch_transitions
 from lerobot.robots import so100_follower  # noqa: F401
 from lerobot.teleoperators import gamepad, so101_leader  # noqa: F401
 from lerobot.teleoperators.utils import TeleopEvents
@@ -76,7 +77,6 @@ from lerobot.transport.utils import (
     bytes_to_transitions,
     state_to_bytes,
 )
-from lerobot.utils.buffer import ReplayBuffer, concatenate_batch_transitions
 from lerobot.utils.constants import (
     CHECKPOINTS_DIR,
     LAST_CHECKPOINT_LINK,

tests/utils/test_replay_buffer.py

@@ -21,7 +21,7 @@ import pytest
 import torch
 
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.utils.buffer import BatchTransition, ReplayBuffer, random_crop_vectorized
+from lerobot.rl.buffer import BatchTransition, ReplayBuffer, random_crop_vectorized
 from tests.fixtures.constants import DUMMY_REPO_ID