Human Hand States Reset Three Different Robot Bodies

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.