My nephew and his wife just had their first baby in August. They also have cats.
Hopefully I can describe this correctly.
They started conditioning the cats before the baby's arrival by petting "roughly", pulling tail, ears, anywhere on the body, for when baby begans crawling and grabbing.
Once the baby was born, one of the first outfits he wore was brought home (before mom and baby came home) and placed where the cats hang out so the smell of the new one was familiar to them.
Happy to say once mom and baby got home...no problems.
I don't believe the cats are allowed in the baby's room but are present everywhere else in the house.