{
  "title": "Condition a continuous action expert",
  "caption": "Visual-language representations condition a flow-matching action expert, with robot state as an input to the policy’s motor interface. The expert generates all positions of a continuous action chunk before robot execution. Generation time is different from robot execution time. The author made this explanatory diagram. The playback is an example. Animation time is not measured runtime.",
  "alt": "Action flow: VLM features and robot state condition a flow-matching expert that generates a continuous chunk before execution.",
  "sources": [
    {
      "path": "content/blog/2026-05-25_from-pi0-to-pi07-open-pi-series/post.md",
      "description": "Article mechanism and retained citations"
    },
    "https://arxiv.org/abs/2410.24164",
    "https://www.pi.website/blog/pi0"
  ],
  "limitations": [
    "The playback is an example. Playback time is not measured runtime.",
    "This diagram gives the conditioning handoff. It does not give the full flow loss or numerical integration sampler.",
    "The animation does not measure robot execution or control frequency."
  ]
}