diff --git a/src/lerobot/motors/dynamixel/dynamixel.py b/src/lerobot/motors/dynamixel/dynamixel.py
index 1113ec0f..e1d4e096 100644
--- a/src/lerobot/motors/dynamixel/dynamixel.py
+++ b/src/lerobot/motors/dynamixel/dynamixel.py
@@ -22,7 +22,7 @@ import logging
 from copy import deepcopy
 from enum import Enum
 
-from lerobot.utils.encoding_utils import decode_twos_complement, encode_twos_complement
+from lerobot.motors.encoding_utils import decode_twos_complement, encode_twos_complement
 
 from ..motors_bus import Motor, MotorCalibration, MotorsBus, NameOrID, Value, get_address
 from .tables import (
diff --git a/src/lerobot/utils/encoding_utils.py b/src/lerobot/motors/encoding_utils.py
similarity index 100%
rename from src/lerobot/utils/encoding_utils.py
rename to src/lerobot/motors/encoding_utils.py
diff --git a/src/lerobot/motors/feetech/feetech.py b/src/lerobot/motors/feetech/feetech.py
index 88d45ba3..2ea57af1 100644
--- a/src/lerobot/motors/feetech/feetech.py
+++ b/src/lerobot/motors/feetech/feetech.py
@@ -17,7 +17,7 @@ from copy import deepcopy
 from enum import Enum
 from pprint import pformat
 
-from lerobot.utils.encoding_utils import decode_sign_magnitude, encode_sign_magnitude
+from lerobot.motors.encoding_utils import decode_sign_magnitude, encode_sign_magnitude
 
 from ..motors_bus import Motor, MotorCalibration, MotorsBus, NameOrID, Value, get_address
 from .tables import (
diff --git a/src/lerobot/rl/actor.py b/src/lerobot/rl/actor.py
index b38858ca..2606481d 100644
--- a/src/lerobot/rl/actor.py
+++ b/src/lerobot/rl/actor.py
@@ -63,6 +63,7 @@ from lerobot.configs.train import TrainRLServerPipelineConfig
 from lerobot.policies.factory import make_policy
 from lerobot.policies.sac.modeling_sac import SACPolicy
 from lerobot.processor import TransitionKey
+from lerobot.rl.process import ProcessSignalHandler
 from lerobot.robots import so100_follower  # noqa: F401
 from lerobot.teleoperators import gamepad, so101_leader  # noqa: F401
 from lerobot.teleoperators.utils import TeleopEvents
@@ -75,7 +76,6 @@ from lerobot.transport.utils import (
     send_bytes_in_chunks,
     transitions_to_bytes,
 )
-from lerobot.utils.process import ProcessSignalHandler
 from lerobot.utils.queue import get_last_item_from_queue
 from lerobot.utils.random_utils import set_seed
 from lerobot.utils.robot_utils import busy_wait
diff --git a/src/lerobot/rl/learner.py b/src/lerobot/rl/learner.py
index 6fd9fb86..1ff34376 100644
--- a/src/lerobot/rl/learner.py
+++ b/src/lerobot/rl/learner.py
@@ -67,6 +67,7 @@ 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.rl.process import ProcessSignalHandler
 from lerobot.robots import so100_follower  # noqa: F401
 from lerobot.teleoperators import gamepad, so101_leader  # noqa: F401
 from lerobot.teleoperators.utils import TeleopEvents
@@ -83,7 +84,6 @@ from lerobot.utils.constants import (
     PRETRAINED_MODEL_DIR,
     TRAINING_STATE_DIR,
 )
-from lerobot.utils.process import ProcessSignalHandler
 from lerobot.utils.random_utils import set_seed
 from lerobot.utils.train_utils import (
     get_step_checkpoint_dir,
diff --git a/src/lerobot/utils/process.py b/src/lerobot/rl/process.py
similarity index 100%
rename from src/lerobot/utils/process.py
rename to src/lerobot/rl/process.py
diff --git a/tests/motors/test_dynamixel.py b/tests/motors/test_dynamixel.py
index e0dbe713..8b02d433 100644
--- a/tests/motors/test_dynamixel.py
+++ b/tests/motors/test_dynamixel.py
@@ -24,7 +24,7 @@ import pytest
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.dynamixel import MODEL_NUMBER_TABLE, DynamixelMotorsBus
 from lerobot.motors.dynamixel.tables import X_SERIES_CONTROL_TABLE
-from lerobot.utils.encoding_utils import encode_twos_complement
+from lerobot.motors.encoding_utils import encode_twos_complement
 
 try:
     import dynamixel_sdk as dxl
diff --git a/tests/motors/test_feetech.py b/tests/motors/test_feetech.py
index 31e4a901..673276e0 100644
--- a/tests/motors/test_feetech.py
+++ b/tests/motors/test_feetech.py
@@ -22,9 +22,9 @@ from unittest.mock import MagicMock, patch
 import pytest
 
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
+from lerobot.motors.encoding_utils import encode_sign_magnitude
 from lerobot.motors.feetech import MODEL_NUMBER, MODEL_NUMBER_TABLE, FeetechMotorsBus
 from lerobot.motors.feetech.tables import STS_SMS_SERIES_CONTROL_TABLE
-from lerobot.utils.encoding_utils import encode_sign_magnitude
 
 try:
     import scservo_sdk as scs
diff --git a/tests/utils/test_encoding_utils.py b/tests/utils/test_encoding_utils.py
index 81394286..8a023122 100644
--- a/tests/utils/test_encoding_utils.py
+++ b/tests/utils/test_encoding_utils.py
@@ -16,7 +16,7 @@
 
 import pytest
 
-from lerobot.utils.encoding_utils import (
+from lerobot.motors.encoding_utils import (
     decode_sign_magnitude,
     decode_twos_complement,
     encode_sign_magnitude,
diff --git a/tests/utils/test_process.py b/tests/utils/test_process.py
index 61e6e2c7..e2b00cae 100644
--- a/tests/utils/test_process.py
+++ b/tests/utils/test_process.py
@@ -22,7 +22,7 @@ from unittest.mock import patch
 
 import pytest
 
-from lerobot.utils.process import ProcessSignalHandler
+from lerobot.rl.process import ProcessSignalHandler
 
 
 # Fixture to reset shutdown_event_counter and original signal handlers before and after each test