We explore Nvidia’s A.S.A.P. (Aligning Simulation and Real-World Physics), an innovative framework that empowers humanoid robots to execute agile, full-body movements by bridging the gap between simulation and real-world physics. ASAP operates in two key stages: first, it pre-trains motion tracking policies in simulation using real human data; then, it fine-tunes these policies in the real world with delta action models…