---

name: smp description: "Score-Matching Motion Priors workflows for TinyMDM prior training/testing and SMP task policies." disable-model-invocation: true metadata: disco-role: operating license: Apache 2.0

SMP

Use this sub-skill when the user wants to:

• train or sample a TinyMDM motion prior
• train or test an SMP policy with a prior reward and optional GSI
• check whether a prior config can safely back a policy env before launch

Route elsewhere

• Generic runner, engine, device, distributed, and logging mechanics: use runner-and-backends
• Motion conversion, motion viewing, or log plotting: use motion-tools
• AMP / ADD / ASE non-SMP adversarial control: use adversarial-control

Bundled assets

• Prior training reference
• Policy training reference
• Troubleshooting
• Prior wrapper
• Config checker

Operating contract

1. Always resolve --repo-root before touching prior configs or assets.
2. Use scripts/train_smp_prior.py --dry-run-config first when you only need to validate paths and imports.
3. Before policy training, confirm the chosen agent, env, prior config, prior model, and engine control frequency match.
4. Treat simulator-native workflows as external dependencies. This subtree does not bundle Isaac Gym, Isaac Lab/Isaac Sim, Newton/Warp, or downloaded motions/models/assets.
5. If a config mismatch is reported, fix the env/prior pairing instead of weakening the compatibility checks.