{
  "title": "Subtask handoff between two policy levels",
  "caption": "A high-level VLM interprets the instruction and interaction. It supplies a language subtask to a low-level VLA, which also reads the current scene and robot state. Continuous execution gives new observations for the next high-level decision. The author made this explanatory diagram. The playback is an example. Animation time is not measured runtime.",
  "alt": "Hierarchy flow: a VLM supplies a language-subtask proposal. A VLA reads it with the current scene and robot state, acts and returns observations.",
  "sources": [
    {
      "path": "content/blog/2026-05-25_from-pi0-to-pi07-open-pi-series/post.md",
      "description": "Article mechanism and retained citations"
    },
    "https://www.pi.website/research/hirobot"
  ],
  "limitations": [
    "The playback is an example. Playback time is not measured runtime.",
    "This is the separate high-level/low-level Hi-Robot interface. The diagram makes no claim that all π0-family policies use two models.",
    "The trace gives a handoff and an observation update. It is not a recorded robot trial."
  ]
}