mlsanityData to 7 Oct 2026

Closed-Loop Visuomotor Control with Generative Expectation for Robotic Manipulation

arXiv 2409.09016 ↗First posted 13 Sep 2024cs.ROcited by 51

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Cited by 21 in Vision-language-action models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Despite significant progress in robotics and embodied AI in recent years, deploying robots for long-horizon tasks remains a great challenge. Majority of prior arts adhere to an open-loop philosophy and lack real-time feedback, leading to error accumulation and undesirable robustness. A handful of approaches have endeavored to establish feedback mechanisms leveraging pixel-level differences or pre-trained visual representations, yet their efficacy and adaptability have been found to be constrained. Inspired by classic closed-loop control systems, we propose CLOVER, a closed-loop visuomotor control framework that incorporates feedback mechanisms to improve adaptive robotic control. CLOVER consists of a text-conditioned video diffusion model for generating visual plans as reference inputs, a measurable embedding space for accurate error quantification, and a feedback-driven controller that refines actions from feedback and initiates replans as needed. Our framework exhibits notable advancement in real-world robotic tasks and achieves state-of-the-art on CALVIN benchmark, improving by 8% over previous open-loop counterparts. Code and checkpoints are maintained at https://github.com/OpenDriveLab/CLOVER.

Key facts. Cited by 51 papers in the map (data through 7 Oct 2026). First posted on arXiv 13 Sep 2024.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 6; 2025: 21; 2026: 24.

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  1. 2025AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systemscited by 390
  2. 2025UniVLA: Learning to Act Anywhere with Task-centric Latent Actionscited by 386
  3. 2025WorldVLA: Towards Autoregressive Action World Modelcited by 351
  4. 2025DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World Knowledgecited by 203
  5. 2024Predictive Inverse Dynamics Models are Scalable Learners for Robotic Manipulationcited by 159
  6. 2025VLA-Adapter: An Effective Paradigm for Tiny-Scale Vision-Language-Action Modelcited by 140
  7. 2025AdaWorld: Learning Adaptable World Models with Latent Actionscited by 108
  8. 2025ReconVLA: Reconstructive Vision-Language-Action Model as Effective Robot Perceivercited by 80
  9. 2024Moto: Latent Motion Token as the Bridging Language for Learning Robot Manipulation from Videoscited by 65
  10. 2025Vidar: Embodied Video Diffusion Model for Generalist Manipulationcited by 58
  11. 2025RoboGround: Robotic Manipulation with Grounded Vision-Language Priorscited by 50
  12. 2026InternVLA-A1: Unifying Understanding, Generation and Action for Robotic Manipulationcited by 48
38 more
  1. 2025HiF-VLA: Hindsight, Insight and Foresight through Motion Representation for Vision-Language-Action Modelscited by 30
  2. 2025GEVRM: Goal-Expressive Video Generation Model For Robust Visual Manipulationcited by 26
  3. 2024VideoAgent: Self-Improving Video Generationcited by 24
  4. 2024GenEx: Generating an Explorable Worldcited by 20
  5. 2025RFTF: Reinforcement Fine-tuning for Embodied Agents with Temporal Feedbackcited by 19
  6. 2025Is Diversity All You Need for Scalable Robotic Manipulation?cited by 19
  7. 2026S-VAM: Shortcut Video-Action Model by Self-Distilling Geometric and Semantic Foresightcited by 16
  8. 2025A Step Toward World Models: A Survey on Robotic Manipulationcited by 15
  9. 2025EvoWorld: Evolving Panoramic World Generation with Explicit 3D Memorycited by 14
  10. 2024Generative World Explorercited by 12
  11. 2025PointMapPolicy: Structured Point Cloud Processing for Multi-Modal Imitation Learningcited by 10
  12. 2026Sparse Video Generation Propels Real-World Beyond-the-View Vision-Language Navigationcited by 10
  13. 2026MMaDA-VLA: Large Diffusion Vision-Language-Action Model with Unified Multi-Modal Instruction and Generationcited by 10
  14. 2026MemoryVLA++: Temporal Modeling via Memory and Imagination in Vision-Language-Action Modelscited by 9
  15. 2026AffordanceVLA: A Vision-Language-Action Model Empowering Action Generation through Affordance-Aware Understandingcited by 8
  16. 2026Pri4R: Learning World Dynamics for Vision-Language-Action Models with Privileged 4D Representationcited by 7
  17. 2026PokeVLA: Empowering Pocket-Sized Vision-Language-Action Model with Comprehensive World Knowledge Guidancecited by 6
  18. 2024DaDu-E: Rethinking the Role of Large Language Model in Robotic Computing Pipelinecited by 5
  19. 2025ViSA-Flow: Accelerating Robot Skill Learning via Large-Scale Video Semantic Action Flowcited by 5
  20. 2026AffordVLA: Injecting Affordance Representations into Vision-Language-Action Models via Implicit Feature Alignmentcited by 5
  21. 2025Hyper-GoalNet: Goal-Conditioned Manipulation Policy Learning with HyperNetworkscited by 4
  22. 2025Robotic Manipulation via Imitation Learning: Taxonomy, Evolution, Benchmark, and Challengescited by 3
  23. 2026From World Models to World Action Models: A Concise Tutorial for Roboticscited by 3
  24. 2026Enfold: Folding World Model Imagination into Predictive Representations for Ultra-Efficient Embodied Controlcited by 3
  25. 2026VISTA: Enhancing Visual Conditioning via Track-Following Preference Optimization in Vision-Language-Action Modelscited by 2
  26. 2026From Imagined Futures to Executable Actions: Mixture of Latent Actions for Robot Manipulationcited by 2
  27. 2025Seeing Space and Motion: Enhancing Latent Actions with Geometric and Dynamic Awareness for Vision-Language-Action Modelscited by 1
  28. 2026Task-Aware Exploration via a Predictive Bisimulation Metriccited by 1
  29. 2026ROSClaw: A Hierarchical Semantic-Physical Framework for Heterogeneous Multi-Agent Collaborationcited by 1
  30. 2026Customized Fusion: A Closed-Loop Dynamic Network for Adaptive Multi-Task-Aware Infrared-Visible Image Fusioncited by 1
  31. 2026SAM3D-Guided Object-Centric Representation Alignment for Vision-Language-Action Modelscited by 1
  32. 2026WorldAgen: Unified State-Action Prediction with Test-Time World Model Trainingcited by 1
  33. 2025BINDER: Instantly Adaptive Mobile Manipulation with Open-Vocabulary Commandscited by 0
  34. 2026ElasticFlow: One-Step Physics-Consistent Policy with Elastic Time Horizons for Language-Guided Manipulationcited by 0
  35. 2026Geometry-Aware Motion Latents for Learning Robust Manipulation Policiescited by 0
  36. 2026Mind-VLA: Instruction-Aware Spatial Representation Alignment for Vision-Language-Action Modelscited by 0
  37. 2026TEMPO: Semantic-Action Decoupled RL Post-Training for Vision-Language-Action Modelscited by 0
  38. 2026DUET-DINO: Simultaneous Cross-View World Modeling for Latent Planning in Robot Manipulationcited by 0

50 most cited of 51 All 51 (JSON)

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  1. 2026STEP: Warm-Started Visuomotor Policies with Spatiotemporal Consistency Prediction
  2. 2024Dreamitate: Real-World Visuomotor Policy Learning via Video Generation
  3. 2026Native Video-Action Pretraining for Generalizable Robot Control
  4. 2025FreqPolicy: Efficient Flow-based Visuomotor Policy via Frequency Consistency
  5. 2025MoE-DP: An MoE-Enhanced Diffusion Policy for Robust Long-Horizon Robotic Manipulation with Skill Decomposition and Failure Recovery
  6. 2026High-Fidelity One-Step Generative Visuomotor Policy via Recursive Correction, Frequency Consistency, and Contrastive Flow Matching
  7. 2025Vidarc: Embodied Video Diffusion Model for Closed-loop Control
  8. 2025Spatial Policy: Guiding Visuomotor Robotic Manipulation with Spatial-Aware Modeling and Reasoning