OmniH2O is a learning-based system designed for whole-body humanoid teleoperation and autonomy. It enables humans to control a full-sized humanoid robot (Unitree H1) through various interfaces, including VR headset, verbal instructions, and RGB cameras. The system supports both high-precision manipulation and robust locomotion, demonstrating versatility in tasks such as sports, object manipulation, and human interaction. OmniH2O uses a kinematic pose as a universal control interface and employs a teacher-student distillation framework to train a robust whole-body motion imitation policy. Key elements include motion data distribution, reward design, and state space design. The system also integrates with advanced models like GPT-4o for autonomous control and has released the first humanoid whole-body control dataset, *OmniH2O-6*, for further research. Experiments validate the system's performance in simulation and real-world settings, demonstrating its ability to track complex motions and perform various tasks with high precision and robustness.OmniH2O is a learning-based system designed for whole-body humanoid teleoperation and autonomy. It enables humans to control a full-sized humanoid robot (Unitree H1) through various interfaces, including VR headset, verbal instructions, and RGB cameras. The system supports both high-precision manipulation and robust locomotion, demonstrating versatility in tasks such as sports, object manipulation, and human interaction. OmniH2O uses a kinematic pose as a universal control interface and employs a teacher-student distillation framework to train a robust whole-body motion imitation policy. Key elements include motion data distribution, reward design, and state space design. The system also integrates with advanced models like GPT-4o for autonomous control and has released the first humanoid whole-body control dataset, *OmniH2O-6*, for further research. Experiments validate the system's performance in simulation and real-world settings, demonstrating its ability to track complex motions and perform various tasks with high precision and robustness.