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    "story_id": "mp-2026-09-29-003",
    "source_story_id": "tmp-story-x-reset-cross-embodiment",
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    "section": "robotics",
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    "headline": "Human Hand States Reset Three Different Robot Bodies",
    "slug": "human-hand-states-reset-three-different-robot-bodies",
    "dek": "X-Reset used filtered hand-object states for exploration rather than asking policies to imitate human motion.",
    "summary": "X-Reset used filtered hand-object states for exploration rather than asking policies to imitate human motion.",
    "body_text": "X-Reset retargets human hand-object states into noisy robot states, removes unstable configurations in simulation and samples the rest as reinforcement-learning resets. The policy itself conditions on object state and goal, while demonstrations enter through the reset distribution. The authors trained generalist policies on 20 objects across a 22-degree-of-freedom hand mounted on two arms and a parallel-jaw gripper, reporting unseen-object generalization and zero-shot sim-to-real transfer. The preprint's results are limited to its objects, embodiments and simulator-to-hardware setup.",
    "why_it_matters": "X-Reset used filtered hand-object states for exploration rather than asking policies to imitate human motion.",
    "limitations": [],
    "importance": 9,
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    "first_published_at": "2026-09-29T09:00:00.000-04:00",
    "modified_at": "2026-09-29T09:00:00.000-04:00",
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        "text": "X-Reset used filtered hand-object states for exploration rather than asking policies to imitate human motion.",
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    "tags": [
      "reinforcement learning",
      "dexterous manipulation",
      "sim-to-real"
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    "image_url": "https://themachinepress.com/issues/2026-09-29/x-reset-robot-arm.webp",
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  "sources": [
    {
      "source_id": "source-2026-09-29-003",
      "title": "arXiv preprint 2609.35715",
      "publisher": "arXiv",
      "url": "https://arxiv.org/abs/2609.35715",
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      "source_type": "primary_research",
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      "published_at": "2026-09-28T13:46:42.000-04:00",
      "accessed_at": "2026-09-29T08:18:00.000-04:00",
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  "publisher": {
    "name": "The Machine Press",
    "url": "https://themachinepress.com",
    "description": "A daily newspaper for the age of artificial intelligence."
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  "cite_this_report": {
    "title": "Human Hand States Reset Three Different Robot Bodies",
    "publisher": "The Machine Press",
    "published_at": "2026-09-29T09:00:00.000-04:00",
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