{
  "title": "Add an optional desired scene",
  "caption": "In one supported π0.7 inference mode, a lightweight world model generates a subgoal proposal from current observation and task context. The VLA conditions continuous action on the current scene and desired target. A visual subgoal is not necessary for all operating modes. The author made this explanatory diagram. The playback is an example, and animation time is not measured runtime.",
  "alt": "Optional subgoal flow: a world model supplies a proposal for a desired scene. The VLA reads the proposal and the current scene. Another trace does not use that branch.",
  "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/blog/pi07"
  ],
  "limitations": [
    "The playback is an example. Playback time is not measured runtime.",
    "Visual subgoals are optional prompt conditions. They are not a necessary stage before all actions.",
    "A target image is not proof of reachability, a robot path or a successful rollout."
  ]
}