# GAgent: An Adaptive Rigid-Soft Gripping Agent with Vision Language Models for Complex Lighting Environments

arXiv: https://arxiv.org/abs/2403.10850 · HTML: https://mlsanity.com/paper/2403.10850/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- Placed in Multimodal and embodied agents, one of 16 directions in LLM agents and tool use.
- Builds on 11 of its 35 references that are in the map.
- First posted on arXiv 16 Mar 2024.

## Placed in

- LLM agents and tool use / [Multimodal and embodied agents](https://mlsanity.com/agents/multimodal-and-embodied-agents/)

## Builds on (most cited first, 11 of 11)

- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [Improved Baselines with Visual Instruction Tuning](https://mlsanity.com/paper/2310.03744/) (2023)
- [MiniGPT-4: Enhancing Vision-Language Understanding with Advanced Large Language Models](https://mlsanity.com/paper/2304.10592/) (2023)
- [Emergent Abilities of Large Language Models](https://mlsanity.com/paper/2206.07682/) (2022)
- [Voyager: An Open-Ended Embodied Agent with Large Language Models](https://mlsanity.com/paper/2305.16291/) (2023)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation](https://mlsanity.com/paper/1806.10293/) (2018)
- [Team Delft's Robot Winner of the Amazon Picking Challenge 2016](https://mlsanity.com/paper/1610.05514/) (2016)
- [SCRNet: a Retinex Structure-based Low-light Enhancement Model Guided by Spatial Consistency](https://mlsanity.com/paper/2305.08053/) (2023)
- [Human Demonstrations are Generalizable Knowledge for Robots](https://mlsanity.com/paper/2312.02419/) (2023)

## Built on by (most cited first, 6 of 6)

- [TSCnet: A Text-driven Semantic-level Controllable Framework for Customized Low-Light Image Enhancement](https://mlsanity.com/paper/2503.08168/) (2025)
- [FALCON: Feedback-driven Adaptive Long/short-term memory reinforced Coding Optimization system](https://mlsanity.com/paper/2410.21349/) (2024)
- [PromptLNet: Region-Adaptive Aesthetic Enhancement via Prompt Guidance in Low-Light Enhancement Net](https://mlsanity.com/paper/2503.08276/) (2025)
- [A Cascading Cooperative Multi-agent Framework for On-ramp Merging Control Integrating Large Language Models](https://mlsanity.com/paper/2503.08199/) (2025)
- [MARS: Memory-Enhanced Agents with Reflective Self-improvement](https://mlsanity.com/paper/2503.19271/) (2025)
- [TDRI: Two-Phase Dialogue Refinement and Co-Adaptation for Interactive Image Generation](https://mlsanity.com/paper/2503.17669/) (2025)

## Abstract (arXiv)

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.