Where to put commas in a long sentence with multiple ands

I am having a lot of trouble figuring out where to place commas in my long sentences and was hoping to get some guidance for this particular sentence so I can use it for reference.

1. Specifically, our architecture takes as input the giver and receiver pose that we denote together as Pi, and the object label O in the form of a GloVe embedding, and forecasts both their poses Ph and the orientation of the object Or centered on the giver’s grasping hand at handover

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2. Specifically, our architecture takes as input the giver and receiver pose that we denote together as Pi, and the object label O in the form of a GloVe embedding and, forecasts both their poses Ph and the orientation of the object Or centered on the giver’s grasping hand at handover