Nano is smaller than small. Small is smaller than medium. Medium is smaller than large. Large is smaller than extra large.
There's no quantitative measurement in any of that, only generalizations.
Based on the general consensus of where small ends, usually 10g for a freshwater tank, I would say that most people accept the standard of under 10g as a nano freshwater tank. Some people include 10g in the upper range of nano, some people consider 10g to be the bottom range of small tanks. I wouldn't go around calling an 11g freshwater tank a nano. I could get away with calling a 10g a nano. A 9g would definitely be safe to call a nano.
Pico is smaller than nano. I would say that anything under 1g would be freshwater pico.
I'd just like to take this opportunity to showoff my latest venture into the pico aquarium...
Approx .3 gallons, DIY CO2, fluval 404 filtration, livestock 3 comet goldfish.