# Closed-Loop Visuomotor Control with Generative Expectation for Robotic Manipulation

arXiv: https://arxiv.org/abs/2409.09016 · HTML: https://mlsanity.com/paper/2409.09016/

## Key facts

- Cited by 53 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 13 Sep 2024.

## Built on by (most cited first, 30 of 53)

- [UniVLA: Learning to Act Anywhere with Task-centric Latent Actions](https://mlsanity.com/paper/2505.06111/) (2025)
- [AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems](https://mlsanity.com/paper/2503.06669/) (2025)
- [WorldVLA: Towards Autoregressive Action World Model](https://mlsanity.com/paper/2506.21539/) (2025)
- [DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World Knowledge](https://mlsanity.com/paper/2507.04447/) (2025)
- [Predictive Inverse Dynamics Models are Scalable Learners for Robotic Manipulation](https://mlsanity.com/paper/2412.15109/) (2024)
- [VLA-Adapter: An Effective Paradigm for Tiny-Scale Vision-Language-Action Model](https://mlsanity.com/paper/2509.09372/) (2025)
- [AdaWorld: Learning Adaptable World Models with Latent Actions](https://mlsanity.com/paper/2503.18938/) (2025)
- [ReconVLA: Reconstructive Vision-Language-Action Model as Effective Robot Perceiver](https://mlsanity.com/paper/2508.10333/) (2025)
- [Moto: Latent Motion Token as the Bridging Language for Learning Robot Manipulation from Videos](https://mlsanity.com/paper/2412.04445/) (2024)
- [Vidar: Embodied Video Diffusion Model for Generalist Manipulation](https://mlsanity.com/paper/2507.12898/) (2025)
- [RoboGround: Robotic Manipulation with Grounded Vision-Language Priors](https://mlsanity.com/paper/2504.21530/) (2025)
- [InternVLA-A1: Unifying Understanding, Generation and Action for Robotic Manipulation](https://mlsanity.com/paper/2601.02456/) (2026)
- [HiF-VLA: Hindsight, Insight and Foresight through Motion Representation for Vision-Language-Action Models](https://mlsanity.com/paper/2512.09928/) (2025)
- [GEVRM: Goal-Expressive Video Generation Model For Robust Visual Manipulation](https://mlsanity.com/paper/2502.09268/) (2025)
- [VideoAgent: Self-Improving Video Generation](https://mlsanity.com/paper/2410.10076/) (2024)
- [GenEx: Generating an Explorable World](https://mlsanity.com/paper/2412.09624/) (2024)
- [RFTF: Reinforcement Fine-tuning for Embodied Agents with Temporal Feedback](https://mlsanity.com/paper/2505.19767/) (2025)
- [Is Diversity All You Need for Scalable Robotic Manipulation?](https://mlsanity.com/paper/2507.06219/) (2025)
- [EvoWorld: Evolving Panoramic World Generation with Explicit 3D Memory](https://mlsanity.com/paper/2510.01183/) (2025)
- [S-VAM: Shortcut Video-Action Model by Self-Distilling Geometric and Semantic Foresight](https://mlsanity.com/paper/2603.16195/) (2026)
- [A Step Toward World Models: A Survey on Robotic Manipulation](https://mlsanity.com/paper/2511.02097/) (2025)
- [Generative World Explorer](https://mlsanity.com/paper/2411.11844/) (2024)
- [AffordanceVLA: A Vision-Language-Action Model Empowering Action Generation through Affordance-Aware Understanding](https://mlsanity.com/paper/2606.06155/) (2026)
- [PointMapPolicy: Structured Point Cloud Processing for Multi-Modal Imitation Learning](https://mlsanity.com/paper/2510.20406/) (2025)
- [Sparse Video Generation Propels Real-World Beyond-the-View Vision-Language Navigation](https://mlsanity.com/paper/2602.05827/) (2026)
- [MMaDA-VLA: Large Diffusion Vision-Language-Action Model with Unified Multi-Modal Instruction and Generation](https://mlsanity.com/paper/2603.25406/) (2026)
- [MemoryVLA++: Temporal Modeling via Memory and Imagination in Vision-Language-Action Models](https://mlsanity.com/paper/2606.09827/) (2026)
- [Pri4R: Learning World Dynamics for Vision-Language-Action Models with Privileged 4D Representation](https://mlsanity.com/paper/2603.01549/) (2026)
- [ViSA-Flow: Accelerating Robot Skill Learning via Large-Scale Video Semantic Action Flow](https://mlsanity.com/paper/2505.01288/) (2025)
- [PokeVLA: Empowering Pocket-Sized Vision-Language-Action Model with Comprehensive World Knowledge Guidance](https://mlsanity.com/paper/2604.20834/) (2026)

## 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.