High performance of the generation, stabilization and manipulation of magnetic skyrmions prompts the application of topological multilayers in spintronic devices. Skyrmions in synthetic antiferromagnets (SAF) have been considered as a promising alternative to overcome the limitations of ferromagnetic skyrmions, such as the skyrmion Hall effect and stray magnetic field. Here, by using the Lorentz transmission electron microscopy, the interconversion between the single domain, labyrinth domain and skyrmion state can be observed by the combined manipulation of electric current and magnetic field in a Hall balance (a SAF with the core structure of [Co/Pt]₄/NiO/[Co/Pt]₄ showing perpendicular magnetic anisotropy). Furthermore, high-density room temperature skyrmions can be stabilized at zero field while the external stimulus is removed and the skyrmion density is tunable. The generation and manipulation method of skyrmions in Hall balance in this study opens up a promising way to engineer SAF-skyrmion-based memory devices.