diff --git a/lerobot/common/policies/utils.py b/lerobot/common/policies/utils.py
new file mode 100644
index 00000000..b0503fe4
--- /dev/null
+++ b/lerobot/common/policies/utils.py
@@ -0,0 +1,10 @@
+def populate_queues(queues, batch):
+    for key in batch:
+        if len(queues[key]) != queues[key].maxlen:
+            # initialize by copying the first observation several times until the queue is full
+            while len(queues[key]) != queues[key].maxlen:
+                queues[key].append(batch[key])
+        else:
+            # add latest observation to the queue
+            queues[key].append(batch[key])
+    return queues