As Bret Victor says in his essay, live coding is not a new concept and he did not create it.
The current trend in live coding seems to have spawned from a discussion between two computer musicians (Fabrice Mogini and Julian Rohrhuber) in 2001, with masses of related prior art going back to Lisp machines, Self, Smalltalk, corewar etc.
Responsive live programming (not just code reload), which is closer to what Bret Victor is doing here, goes back to various visual languages of the 80s and 90s.
You didn't mention any VPLs. I would throw in a few...ThingLab, AgentSheets, LabView, Prograph, Fabrik, and so on. These were the original live languages.
But why do you think liveness requires visual programming? I see them as pretty much orthogonal.
Separately, when I see "visual programming language" I see "unusual programming language". When language features become normal (like 2D syntax in Python/haskell), then we stop calling them visual. A great deal of visual features are just alternative ways of structuring text, ways of constraining syntax, or ways of constructing high dimensional (and therefore non-visual) graphs. To a large extent, all programming languages are visual.
Why would you call Self a visual language? It has an IDE, but the language is most definitely textual. Its only when you throw in Morphic does the line begin to blur, but you are back to text again if you want to write any code. Many languages we think of as visual are more structured or graphical (graphics baked around text); compare ToonTalk to Scratch! Most languages fall somewhere in a spectrum between heavily visual and heavily textual, but this is my own classification system and there is hardly much consensus on the topic.
Liveness doesn't require visual, of course, but that's where liveness first shows up in history (SketchPad, along with directness). I go into some of the history in my own paper on the topic (http://lamp.epfl.ch/~mcdirmid/mcdirmid07dead.pdf).
The current trend in live coding seems to have spawned from a discussion between two computer musicians (Fabrice Mogini and Julian Rohrhuber) in 2001, with masses of related prior art going back to Lisp machines, Self, Smalltalk, corewar etc.