From http://www.tinkerpop.com/docs/3.0.0.M1/:
TinkerPop2 and below made a sharp distinction between the various TinkerPop projects: Blueprints, Pipes, Gremlin, Frames, Furnace, and Rexster. With TinkerPop3, all of these projects have been merged and are generally known as Gremlin. Blueprints → Gremlin Structure API : Pipes → GraphTraversal : Frames → Traversal : Furnace → GraphComputer and VertexProgram : Rexster → GremlinServer.