The Brain-Computer Interfaces are quite useful for persons with neurodegenerative disorders. This paper presents such an interface which is useful and intuitive for arbitrary pick and place tasks. We have developed a higher-level interface in which the user has to select the location of an object on his/her computer screen, which needs to be picked up or the location where the object needs to be placed. After providing the location, the robot directly reaches to pick the object or to place the object at the selected location. To select these locations, we have utilized a 2-class SSVEP paradigm. Using the SSVEP and eye-blinks, the user is able to perform pick and place task at arbitrary locations. © 2019 IEEE.