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arXiv · 2512.17661

Vidarc: Embodied Video Diffusion Model for Closed-loop Control

Yao Feng·Chendong Xiang·Xinyi Mao·Hengkai Tan·Zuyue Zhang·Shuhe Huang·Kaiwen Zheng·Haitian Liu·Hang Su·Jun Zhu
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Abstract

Robotic arm manipulation in data-scarce settings is a highly challenging task due to the complex embodiment dynamics and diverse contexts. Recent video-based approaches have shown great promise in capturing and transferring the temporal and physical interactions by pre-training on Internet-scale video data. However, such methods are often not optimized for the embodiment-specific closed-loop control, typically suffering from high latency and insufficient grounding. In this paper, we present Vidarc (Video Diffusion for Action Reasoning and Closed-loop Control), a novel autoregressive embodied video diffusion approach augmented by a masked inverse dynamics model. By grounding video predictions with action-relevant masks and incorporating real-time feedback through cached autoregressive generation, Vidarc achieves fast, accurate closed-loop control. Pre-trained on one million cross-embodiment episodes, Vidarc surpasses state-of-the-art baselines, achieving at least a 15% higher success rate in real-world deployment and a 91% reduction in latency. We also highlight its robust generalization and error correction capabilities across previously unseen robotic platforms.

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Yao Feng, Chendong Xiang, Xinyi Mao, Hengkai Tan, Zuyue Zhang, Shuhe Huang, Kaiwen Zheng, Haitian Liu, Hang Su, Jun Zhu. 2025-12-19. Vidarc: Embodied Video Diffusion Model for Closed-loop Control. https://arxiv.org/abs/2512.17661

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