ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills ASAP (Aligning Simulation and Real Physics), a two-stage framework designed to tackle the dynamics mismatch and enable agile humanoid whole-body skills. ASAP enables highly agile motions that were previously difficult to achieve, demonstrating the potential of delta action learning in bridging simulation and real-world dynamics. These results suggest a promising sim-to-real direction for developing mor