This paper introduces GAgent: an Gripping Agent designed for open-world
environments that provides advanced cognitive abilities via VLM agents and
flexible grasping abilities with variable stiffness soft grippers. GAgent
comprises three primary components - Prompt Engineer module, Visual-Language
Model (VLM) core and Workflow module. These three modules enhance gripper
success rates by recognizing objects and materials and accurately estimating
grasp area even under challenging lighting conditions. As part of creativity,
researchers also created a bionic hybrid soft gripper with variable stiffness
capable of gripping heavy loads while still gently engaging objects. This
intelligent agent, featuring VLM-based cognitive processing with bionic design,
shows promise as it could potentially benefit UAVs in various scenarios.

本文介绍了一个设计用于开放环境的 GAgent：一种通过 VLM 代理和可变刚度软握持器提供高级认知能力的抓取代理。GAgent 由 Prompt Engineer 模块、视觉语言模型（VLM）核心和工作流模块组成。这三个模块通过识别对象和物料以及在具有挑战性的照明条件下准确估计握持区域能够提高夹持成功率。作为创造性的一部分，研究人员还创建了一种具有可变刚度的仿生混合软握持器，能够夹持重负载同时轻柔地接触物体。这种具备基于 VLM 的认知处理和仿生设计的智能代理显示出潜力，有望在各种场景下为无人机带来益处。