ASAP (Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills) is an innovative two-stage framework aimed at addressing the dynamic mismatch between simulation and the real world, thereby enabling agile whole-body skills in humanoid robots. This technology significantly enhances a robot's adaptability and coordination in complex dynamic environments by pre-training movement tracking strategies and training a residual motion model with real-world data. Key advantages of ASAP include efficient use of data, substantial performance improvements, and precise control over complex movements, providing new directions for future humanoid robot development, especially in scenarios requiring high flexibility and adaptability.