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In the USA, what you call "public" adoption is usually called "adoption through the state", "adoption from the state", or "adoption from foster care". (Just so you know other people are talking about the same thing you are, just using different terms.)
The process is quite different. First of all, the vast majority of children who are available for adoption through the state were removed from their birth families because of abuse or neglect. (The state can place a baby brought to them by the birth parent, but that is SOOOOO rare it isn't worth mentioning.)
When children are first removed, they are placed into foster care. The parents are given a case plan they must complete before the child can live with them again. Many parents complete the plan, and reunify their families. Others are given extension after extension, until it is determined they don't care, or are unable to complete the case plan. At that time their rights are terminated, and the child becomes available for adoption. Occasionally during this process, the parents will decide on their own that they don't care or are unable to complete the case plan, and voluntarially sign away their parental rights, making the child available for adoption.
By the time most children from foster care are able to be adopted, they are "older". Most are school-aged. So if you're looking for an infant, this is not the way to choose. Because the children have done so much bouncing around in the system, and because of the early abuse they received, many need therapy and other supports for a time (or for life).
But the state always chooses the adoptive parents. Each state has different rules. Some will always choose bio family first, even if they didn't ask for custody for years. Others choose the current foster family first. Others hold a "staffing" where they consider dozens or hundreds of homestudies submitted by interested families, and choose the best match.
You do NOT have to become a normal "foster family" in order to adopt a child from foster care. But it is possible that you would have to become licenced for foster care, because a child would be placed with you one day but the adoption not be final for several month - meaning the child is still a foster child and should be placed with a foster family. But you wouldn't have to accept other children, just the single legally free for adoption child that you and the worker agreed on.
One option you'll hear about is "foster-adopt". In those type of programs, you become a normal foster family and are placed with a child who is expected to become legally free for adoption, but isn't yet. Many of those children eventually are adopted by their foster parents. BUT MANY ARE NOT. This program is best for the child, because it keeps them from moving so often if they're placed with a family with a willingness to keep the child forever, but it's hell on the family's emotions. The average where I live is returning 4-6 infants to bio family before receiving the one they are able to adopt.
In most states, "the state" IS the agency. In others, you can work directly through the state, or choose an accredited private agency as a go-between. In others, the state has completely privatized the process, and the only way to do it is through a private agency.
Go ahead and go to some (free) orientations for different agencies that work with the state. Different agencies work different ways, and that will give you an overview of the process should you decide to go that way.
Good luck!
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