Urban flood emergency response increasingly relies on infrastructure impact forecasts rather than hazard variables alone. However, real-time predictions are unreliable due to biased rainfall, incomplete flood knowledge, and sparse observations. Conventional open-loop forecasting propagates impacts without adjusting the system state, causing errors during critical decisions. This study presents CRAF (Crowdsourcing-Enhanced Real-Time Awareness and Forecasting), a physics-informed, closed-loop framework that converts sparse human-sensed evidence into rolling, decision-grade impact forecasts. By coupling physics-based simulation learning with crowdsourced observations, CRAF infers system conditions from incomplete data and propagates them forward to produce multi-step, real-time predictions of zone-level building functionality loss without online retraining. This closed-loop design supports continuous state correction and forward prediction under weakly structured data with low-latency operation. Offline evaluation demonstrates stable generalization across diverse storm scenarios. In operational deployment during Typhoon Haikui (2023) in Fuzhou, China, CRAF reduces 1-3 hour-ahead forecast errors by 84-95% relative to fixed rainfall-driven forecasting and by 73-80% relative to updated rainfall-driven forecasting, while limiting computation to 10 minutes per update cycle. These results show that impact-state alignment-rather than hazard refinement alone-is essential for reliable real-time decision support, providing a pathway toward operational digital twins for resilient urban infrastructure systems.