Example systems and methods may allow for closed-loop control of robotic operation. One example method includes receiving input data that identifies data sources to monitor and indicates adjustments to make in response to deviations by at least one of the data sources from at least one predicted state during subsequent execution of sequences of operations by robotic devices, receiving data streams from the data sources during execution of the sequences of operations by the robotic devices, identifying a deviation by one of the data sources from a predicted state for which the received input data indicates adjustments to the sequences of operations for the robotic devices, providing instructions to the robotic devices to execute the adjusted sequences of operations, and providing instructions to a second computing device to update a visual simulation of the robotic devices based on the adjusted sequences of operations.