Cooperative Grasping for Collective Object Transport in Constrained Environments

We propose a novel framework for decision-making in cooperative grasping for two-robot object transport in constrained environments. The core of the framework is a Conditional Embedding (CE) model consisting of two neural networks that map grasp configuration information into an embedding space. The resulting embedding vectors are then used to identify feasible grasp configurations that allow two robots to collaboratively transport an object. To ensure generalizability across diverse environments and object geometries, the neural networks are trained on a dataset comprising a range of environment maps and object shapes. We employ a supervised learning approach with negative sampling to ensure that the learned embeddings effectively distinguish between feasible and infeasible grasp configurations. Evaluation results across a wide range of environments and objects in simulations demonstrate the model's ability to reliably identify feasible grasp configurations. We further validate the framework through experiments on a physical robotic platform, confirming its practical applicability.