Human-in-the-Loop AI

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Human-in-the-loop AI studies how people can teach, correct, guide, or oversee AI systems, from labeling examples in active learning to providing preferences in reinforcement learning and reviewing agent decisions. Common approaches include interactive interfaces, learning to defer uncertain cases to experts, and using human demonstrations or corrections to adapt robots and other systems during deployment. Applications range from medical decision support and education to robotics, scientific research, and software engineering, evaluated through benchmarks, user studies, and real-world trials. A central tension is how to make human input effective without creating excessive workload or encouraging overreliance, while preserving people’s ability to understand, challenge, and override AI decisions.

Latest papers

290 papers30 papers in the last four weeks, down 9% on the four weeks before. 0.2% of all new papers.

Feb 26, 2026

Bayesian Preference Elicitation: Human-In-The-Loop Optimization of An Active Prosthesis

Tuning active prostheses for people with amputation is time-consuming and relies on metrics that may not fully reflect user needs. We introduce a human-in-the-loop optimization (HILO) approach that leverages direct user preferences to personalize a standard four-parameter prosthesis controller efficiently. Our method employs preference-based Multiobjective Bayesian Optimization that uses a state-or-the-art acquisition function especially designed for preference learning, and includes two algorithmic variants: a discrete version (EUBO-LineCoSpar), and a continuous version (BPE4Prost). Simulation results on benchmark functions and real-application trials demonstrate efficient convergence, robust preference elicitation, and measurable biomechanical improvements, illustrating the potential of preference-driven tuning for user-centered prosthesis control.

Sophia Taddei, Wouter Koppen, Eligia Alfio +8

Federated Labs Robotics & AI, Vrije Universiteit Brussel. · Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel. · IDLab, Ghent University – imec. +1

Preference Elicitation Human-in-the-Loop AI Bayesian Optimization

Feb 26, 2026

Requesting Expert Reasoning: Augmenting LLM Agents with Learned Collaborative Intervention

Large Language Model (LLM) based agents excel at general reasoning but often fail in specialized domains where success hinges on long-tail knowledge absent from their training data. While human experts can provide this missing knowledge, their guidance is often unstructured and unreliable, making its direct integration into an agent's plan problematic. To address this, we introduce AHCE (Active Human-Augmented Challenge Engagement), a framework for on-demand Human-AI collaboration. At its core, the Human Feedback Module (HFM) employs a learned policy to treat the human expert as an interactive reasoning tool. Extensive experiments in Minecraft demonstrate the framework's effectiveness, increasing task success rates by 32% on normal difficulty tasks and nearly 70% on highly difficult tasks, all with minimal human intervention. Our work demonstrates that successfully augmenting agents requires learning how to request expert reasoning, moving beyond simple requests for help.

Zhiming Wang, Jinwei He, Feng Lu

State Key Laboratory of VR Technology and Systems, School of CSE, Beihang University

LLM Agents Human-AI Collaboration Human-in-the-Loop AI Human-AI Interaction

Feb 25, 2026

FlowCorrect: Efficient Interactive Correction of Generative Flow Policies for Robotic Manipulation

Generative manipulation policies can fail catastrophically under deployment-time distribution shift, yet many failures are near-misses: the robot reaches almost-correct poses and would succeed with a small corrective motion. We propose FlowCorrect, a modular interactive imitation learning approach that enables deployment-time adaptation of flow-matching manipulation policies from sparse, relative human corrections without retraining. During execution, a human provides brief corrective pose nudges via a lightweight VR interface. FlowCorrect uses these sparse corrections to locally adapt the policy, improving actions without retraining the backbone while preserving the model performance on previously learned scenarios. We evaluate on a real-world robot across four tabletop tasks: pick-and-place, pouring, cup uprighting, and insertion. With a low correction budget, FlowCorrect achieves an 80% success rate on previously failed cases while preserving performance on previously solved scenarios. The results clearly demonstrate that FlowCorrect learns from very few demonstrations and enables fast, sample-efficient, incremental, human-in-the-loop corrections of generative visuomotor policies at deployment time in real-world robotics.

Edgar Welte, Yitian Shi, Rosa Wolf +2

Institute for Material Handling and Logistics (IFL), Karlsruhe Institute of Technology, 76131, Germany.

Robot Policy Adaptation Robotic Manipulation Interactive Imitation Learning Human-in-the-Loop AI

Feb 24, 2026

Equitable Evaluation via Elicitation

Individuals with similar qualifications and skills may vary in their demeanor, or outward manner: some tend toward self-promotion while others are modest to the point of omitting crucial information. Comparing the self-descriptions of equally qualified job-seekers with different self-presentation styles is therefore problematic. We build an interactive AI for skill elicitation that provides accurate determination of skills while simultaneously allowing individuals to speak in their own voice. Such a system can be deployed, for example, when a new user joins a professional networking platform, or when matching employees to needs during a company reorganization. To obtain sufficient training data, we train an LLM to act as synthetic humans. Elicitation mitigates endogenous bias arising from individuals' own self-reports. To address systematic model bias we enforce a mathematically rigorous notion of equitability ensuring that the covariance between self-presentation manner and skill evaluation error is small.

Elbert Du, Cynthia Dwork, Lunjia Hu +3

Harvard University · Northeastern University · University of Maryland +1

Algorithmic Fairness Human-in-the-Loop AI

Feb 24, 2026

Agile V: A Compliance-Ready Framework for AI-Augmented Engineering -- From Concept to Audit-Ready Delivery

Current AI-assisted engineering workflows lack a built-in mechanism to maintain task-level verification and regulatory traceability at machine-speed delivery. Agile V addresses this gap by embedding independent verification and audit artifact generation into each task cycle. The framework merges Agile iteration with V-Model verification into a continuous Infinity Loop, deploying specialized AI agents for requirements, design, build, test, and compliance, governed by mandatory human approval gates. We evaluate three hypotheses: (H1) audit-ready artifacts emerge as a by-product of development, (H2) 100% requirement-level verification is achievable with independent test generation, and (H3) verified increments can be delivered with single-digit human interactions per cycle. A feasibility case study on a Hardware-in-the-Loop system (about 500 LOC, 8 requirements, 54 tests) supports all three hypotheses: audit-ready documentation was generated automatically (H1), 100% requirement-level pass rate was achieved (H2), and only 6 prompts per cycle were required (H3), yielding an estimated 10-50x cost reduction versus a COCOMO II baseline (sensitivity range from pessimistic to optimistic assumptions). We invite independent replication to validate generalizability.

Christopher Koch, Joshua Andreas Wellbrock

Agile-V.org Germany

Agentic Workflows Automated Software Engineering AI Agent Auditing Human-in-the-Loop AI

Feb 24, 2026

Beyond Human Performance: A Vision-Language Multi-Agent Approach for Quality Control in Pharmaceutical Manufacturing

Colony-forming unit (CFU) detection is critical in pharmaceutical manufacturing, serving as a key component of Environmental Monitoring programs and ensuring compliance with stringent quality standards. Manual counting is labor-intensive and error-prone, while deep learning (DL) approaches, though accurate, remain vulnerable to sample quality variations and artifacts. Building on our earlier CNN-based framework (Beznik et al., 2020), we evaluated YOLOv5, YOLOv7, and YOLOv8 for CFU detection; however, these achieved only 97.08 percent accuracy, insufficient for pharmaceutical-grade requirements. A custom Detectron2 model trained on GSK's dataset of over 50,000 Petri dish images achieved 99 percent detection rate with 2 percent false positives and 0.6 percent false negatives. Despite high validation accuracy, Detectron2 performance degrades on outlier cases including contaminated plates, plastic artifacts, or poor optical clarity. To address this, we developed a multi-agent framework combining DL with vision-language models (VLMs). The VLM agent first classifies plates as valid or invalid. For valid samples, both DL and VLM agents independently estimate colony counts. When predictions align within 5 percent, results are automatically recorded in Postgres and SAP; otherwise, samples are routed for expert review. Expert feedback enables continuous retraining and self-improvement. Initial DL-based automation reduced human verification by 50 percent across vaccine manufacturing sites. With VLM integration, this increased to 85 percent, delivering significant operational savings. The proposed system provides a scalable, auditable, and regulation-ready solution for microbiological quality control, advancing automation in biopharmaceutical production.

Subhra Jyoti Mandal, Lara Rachidi, Puneet Jain +2

GSK, Enterprise AI · Databricks

Laboratory Automation Human-in-the-Loop AI

Feb 20, 2026

Automating Document Intelligence in Statutory City Planning

UK planning authorities face a legislative conflict between the Planning Act, which mandates public access to application documents, and the Data Protection Act, which requires protection of personal information. This situation creates a manually intensive workload for processing large document volumes, diverting planning officers to administrative tasks and creating legal compliance risks. This paper presents an integrated AI system designed to address these challenges. The system automates the identification and redaction of personal information, extracts key metadata from planning documents, and analyzes architectural drawings for specified features. It operates with an AI-in-the-Loop (AI2L) design, presenting all suggestions for review and confirmation by planning officers directly within their existing software; no action is committed without explicit human approval. The system is designed to improve its performance over time by learning from this human oversight through active learning prioritization rather than autoapproval. The system is currently being piloted at four diverse UK local authorities. The paper details the system design, the AI2L workflow, and the evaluation framework used in the pilot. Additionally, it describes a preliminary Return on Investment (ROI) model developed to quantify potential savings and secure partner participation. This work provides a case study on deploying AI to reduce administrative burden and manage compliance risk in a public sector environment.

Lars Malmqvist, Robin Barber

Research and Implementation, Copenhagen, Denmark · Arcus Global, Cambridge, UK

Workflow Automation Document Information Extraction Urban Planning Human-in-the-Loop AI

Feb 19, 2026

From Labor to Collaboration: A Methodological Experiment Using AI Agents to Augment Research Perspectives in Taiwan's Humanities and Social Sciences

Generative AI is reshaping knowledge work, yet existing research focuses predominantly on software engineering and the natural sciences, with limited methodological exploration for the humanities and social sciences. Positioned as a "methodological experiment," this study proposes an AI Agent-based collaborative research workflow (Agentic Workflow) for humanities and social science research. Taiwan's Claude.ai usage data (N = 7,729 conversations, November 2025) from the Anthropic Economic Index (AEI) serves as the empirical vehicle for validating the feasibility of this methodology. This study operates on two levels: the primary level is the design and validation of a methodological framework - a seven-stage modular workflow grounded in three principles: task modularization, human-AI division of labor, and verifiability, with each stage delineating clear roles for human researchers (research judgment and ethical decisions) and AI Agents (information retrieval and text generation); the secondary level is the empirical analysis of AEI Taiwan data - serving as an operational demonstration of the workflow's application to secondary data research, showcasing both the process and output quality (see Appendix A). This study contributes by proposing a replicable AI collaboration framework for humanities and social science researchers, and identifying three operational modes of human-AI collaboration - direct execution, iterative refinement, and human-led - through reflexive documentation of the operational process. This taxonomy reveals the irreplaceability of human judgment in research question formulation, theoretical interpretation, contextualized reasoning, and ethical reflection. Limitations including single-platform data, cross-sectional design, and AI reliability risks are acknowledged.

Yi-Chih Huang

National Applied Research Laboratories Science & Technology Policy Research and Information Center Contact Address: 1, 14-15F, No. 106, Heping E. Rd., Sec. 2, Taipei 10636, Taiwan (R.O.C.)

Agentic Workflows Human-AI Collaboration AI-Assisted Scientific Research Human-in-the-Loop AI

Feb 19, 2026

How AI Coding Agents Communicate: A Study of Pull Request Description Characteristics and Human Review Responses

The rapid adoption of large language models has led to the emergence of AI coding agents that autonomously create pull requests on GitHub. However, how these agents differ in their pull request description characteristics, and how human reviewers respond to them, remains underexplored. In this study, we conduct an empirical analysis of pull requests created by five AI coding agents using the AIDev dataset. We analyze agent differences in pull request description characteristics, including structural features, and examine human reviewer response in terms of review activity, response timing, sentiment, and merge outcomes. We find that AI coding agents exhibit distinct PR description styles, which are associated with differences in reviewer engagement, response time, and merge outcomes. We observe notable variation across agents in both reviewer interaction metrics and merge rates. These findings highlight the role of pull request presentation and reviewer interaction dynamics in human-AI collaborative software development.

Kan Watanabe, Rikuto Tsuchida, Takahiro Monno +5

Nara Institute of Science and Technology, Japan

AI Coding Agents Human-AI Collaboration Human-in-the-Loop AI

Feb 18, 2026

AI-Mediated Feedback Improves Student Revisions: A Randomized Trial with FeedbackWriter in a Large Undergraduate Course

Despite growing interest in using LLMs to generate feedback on students' writing, little is known about how students respond to AI-mediated versus human-provided feedback. We address this gap through a randomized controlled trial in a large introductory economics course (N=354), where we introduce and deploy FeedbackWriter - a system that generates AI suggestions to teaching assistants (TAs) while they provide feedback on students' knowledge-intensive essays. TAs have the full capacity to adopt, edit, or dismiss the suggestions. Students were randomly assigned to receive either handwritten feedback from TAs (baseline) or AI-mediated feedback where TAs received suggestions from FeedbackWriter. Students revise their drafts based on the feedback, which is further graded. In total, 1,366 essays were graded using the system. We found that students receiving AI-mediated feedback produced significantly higher-quality revisions, with gains increasing as TAs adopted more AI suggestions. TAs found the AI suggestions useful for spotting gaps and clarifying rubrics.

Xinyi Lu, Kexin Phyllis Ju, Mitchell Dudley +2

University of Michigan Ann Arbor, Michigan, USA

Generative AI in Education Educational Feedback Generation Human-AI Collaboration Human-in-the-Loop AI

Feb 18, 2026

Measuring Mid-2025 LLM-Assistance on Novice Performance in Biology

Large language models (LLMs) perform strongly on biological benchmarks, raising concerns that they may help novice actors acquire dual-use laboratory skills. Yet, whether this translates to improved human performance in the physical laboratory remains unclear. To address this, we conducted a pre-registered, investigator-blinded, randomized controlled trial (June-August 2025; n = 153) evaluating whether LLMs improve novice performance in tasks that collectively model a viral reverse genetics workflow. We observed no significant difference in the primary endpoint of workflow completion (5.2% LLM vs. 6.6% Internet; P = 0.759), nor in the success rate of individual tasks. However, the LLM arm had numerically higher success rates in four of the five tasks, most notably for the cell culture task (68.8% LLM vs. 55.3% Internet; P = 0.059). Post-hoc Bayesian modeling of pooled data estimates an approximate 1.4-fold increase (95% CrI 0.74-2.62) in success for a "typical" reverse genetics task under LLM assistance. Ordinal regression modelling suggests that participants in the LLM arm were more likely to progress through intermediate steps across all tasks (posterior probability of a positive effect: 81%-96%). Overall, mid-2025 LLMs did not substantially increase novice completion of complex laboratory procedures but were associated with a modest performance benefit. These results reveal a gap between in silico benchmarks and real-world utility, underscoring the need for physical-world validation of AI biosecurity assessments as model capabilities and user proficiency evolve.

Shen Zhou Hong, Alex Kleinman, Alyssa Mathiowetz +9

Active Site, Cambridge, MA 02142, United States · Independent · Model Evaluation and Threat Research, Inc., Covina, CA 91723, United States

AI-Assisted Scientific Research Human-in-the-Loop AI LLM Safety Benchmarks

Feb 17, 2026

Latency-aware Human-in-the-Loop Reinforcement Learning for Semantic Communications

Semantic communication promises task-aligned transmission but must reconcile semantic fidelity with stringent latency guarantees in immersive and safety-critical services. This paper introduces a time-constrained human-in-the-loop reinforcement learning (TC-HITL-RL) framework that embeds human feedback, semantic utility, and latency control within a semantic-aware Open radio access network (RAN) architecture. We formulate semantic adaptation driven by human feedback as a constrained Markov decision process (CMDP) whose state captures semantic quality, human preferences, queue slack, and channel dynamics, and solve it via a primal--dual proximal policy optimization algorithm with action shielding and latency-aware reward shaping. The resulting policy preserves PPO-level semantic rewards while tightening the variability of both air-interface and near-real-time RAN intelligent controller processing budgets. Simulations over point-to-multipoint links with heterogeneous deadlines show that TC-HITL-RL consistently meets per-user timing constraints, outperforms baseline schedulers in reward, and stabilizes resource consumption, providing a practical blueprint for latency-aware semantic adaptation.

Peizheng Li, Xinyi Lin, Adnan Aijaz

Bristol Research and Innovation Laboratory, Toshiba Europe Ltd., U.K.

Semantic Communication Task-Oriented Semantic Communication Human-in-the-Loop AI Constrained RL

Feb 17, 2026

RUVA: Personalized Transparent On-Device Graph Reasoning

The Personal AI landscape is currently dominated by "Black Box" Retrieval-Augmented Generation. While standard vector databases offer statistical matching, they suffer from a fundamental lack of accountability: when an AI hallucinates or retrieves sensitive data, the user cannot inspect the cause nor correct the error. Worse, "deleting" a concept from a vector space is mathematically imprecise, leaving behind probabilistic "ghosts" that violate true privacy. We propose Ruva, the first "Glass Box" architecture designed for Human-in-the-Loop Memory Curation. Ruva grounds Personal AI in a Personal Knowledge Graph, enabling users to inspect what the AI knows and to perform precise redaction of specific facts. By shifting the paradigm from Vector Matching to Graph Reasoning, Ruva ensures the "Right to be Forgotten." Users are the editors of their own lives; Ruva hands them the pen. The project and the demo video are available at http://sisinf00.poliba.it/ruva/.

Gabriele Conte, Alessio Mattiace, Gianni Carmosino +6

Politecnico di Bari · Universit`a degli Studi della Tuscia

Human-in-the-Loop AI Privacy-Preserving Language Models Knowledge Graphs

Dec 1, 2025

First, do NOHARM: a medical safety benchmark and randomized study of physician and AI teaming on clinical consultations

Large language models (LLMs) and medical AI tools are routinely used by physicians and patients for medical advice, yet their clinical safety profiles remain poorly characterized. We present NOHARM (Numerous Options Harm Assessment for Risk in Medicine), a 1,100-task benchmark of primary care-to-specialist consultation cases to measure the frequency and severity of potentially harmful errors from LLM-generated medical consultation recommendations. NOHARM covers 10 specialties, with 12,747 expert annotations for 4,249 clinical management options. Across 20 notable LLMs and 4 widely used retrieval-augmented generation (RAG) clinical AI tools, direct application of recommendations carried potential for severe harm in up to 24.6% of cases, with errors of omission accounting for more than 80% of severe errors. Harm potential was not uniform across systems, with clinical AI tools outperforming generalist LLMs, and multi-agent AI teaming further improving performance in generalist models. In a randomized study of 101 U.S.-licensed generalist physicians, AI assistance improved physician performance compared to conventional resources. However, AI-assisted physicians frequently omitted valuable AI-generated recommendations and still scored lower than many AI systems alone. Had those recommendations been incorporated, combined human-AI responses would have outperformed both the human and AI system as used, suggesting complementary strengths and unrealized potential in human-AI teaming. Collectively, these results show that despite strong performance on medical knowledge benchmarks, widely used AI tools can produce medical consultation advice with the potential for severe harm, and highlight the need for explicit measurement of clinical safety. The benchmark and leaderboard are publicly available to support ongoing evaluation and improvement of AI systems used for clinical care.

David Wu, Fateme Nateghi Haredasht, Saloni Kumar Maharaj +54

Healthcare Clinical Decision Support Human-in-the-Loop AI AI Safety Evaluation Clinical Language Model Evaluation

Nov 4, 2025

A Collaborative Reasoning Framework for Anomaly Diagnostics in Underwater Robotics

The safe deployment of autonomous systems in safety-critical settings requires a paradigm that combines human expertise with AI-driven analysis, especially when anomalies are unforeseen. We introduce AURA (Autonomous Resilience Agent), a collaborative framework for anomaly and fault diagnostics in robotics. AURA integrates large language models (LLMs), a high-fidelity digital twin (DT), and human-in-the-loop interaction to detect and respond to anomalous behavior in real time. The architecture uses two agents with clear roles: (i) a low-level State Anomaly Characterization Agent that monitors telemetry and converts signals into a structured natural-language problem description, and (ii) a high-level Diagnostic Reasoning Agent that conducts a knowledge-grounded dialogue with an operator to identify root causes, drawing on external sources. Human-validated diagnoses are then converted into new training examples that refine the low-level perceptual model. This feedback loop progressively distills expert knowledge into the AI, transforming it from a static tool into an adaptive partner. We describe the framework's operating principles and provide a concrete implementation, establishing a pattern for trustworthy, continually improving human-robot teams.

Markus Buchholz, Niamh Ellis, Rahaf Abu Hara +2

School of Engineering & Physical Sciences, Heriot-Watt University, Edinburgh, UK

Robotics Human-in-the-Loop AI Human-Robot Collaboration Underwater Robotics Robotic Anomaly Detection

Sep 23, 2025

Robotic Ultra-Long-Horizon Manipulation Skills via Human-guided Lifelong Code Generation

Large language models (LLMs) can translate natural-language instructions for robotic manipulation into executable code, but ambiguity, noisy generations, and limited context windows make ultra-long-horizon tasks unreliable. Closed-loop approaches that rely only on LLM feedback also struggle because LLMs have limited robotic reasoning, even when task errors are obvious to humans. Feedback is often stored in representations that generalize poorly to unseen tasks and can cause catastrophic forgetting as new corrections accumulate. We propose LYRA, a human-guided lifelong skill learning and code generation framework that distills human feedback into modular, reusable skills and incrementally extends their functionality across successive interactions while preserving previously learned behavior. External memory stores learned skills and execution examples; retrieval-augmented generation selects relevant knowledge, while user hints guide reuse when retrieval is insufficient, supporting ultra-long-horizon execution. Experiments on Ravens, Franka Kitchen, LIBERO-long, MetaWorld, and real-world tasks show a 0.93 success rate, up to 27% higher than baselines, and a 42% improvement in correction efficiency. LYRA also robustly solves ``build a house'', which requires planning over 20 primitives.

Yuan Meng, Zhenguo Sun, Max Fest +4

School of Computation, Information and Technology Technical University of Munich Munich, Germany · Beijing Academy of Artificial Intelligence (BAAI) Beijing, China · The State Key Laboratory for Novel Software Technology Nanjing University Suzhou, China

Code Generation for Robotics Long-Horizon Robotic Manipulation Robot Skill Learning Robotic Manipulation Continual Robot Learning Human-in-the-Loop AI

Sep 1, 2025

Vis-CoT: A Human-in-the-Loop Framework for Interactive Visualization and Intervention in LLM Chain-of-Thought Reasoning

Large language models (LLMs) show strong reasoning via chain-of-thought (CoT) prompting, but the process is opaque, which makes verification, debugging, and control difficult in high-stakes settings. We present Vis-CoT, a human-in-the-loop framework that converts linear CoT text into an interactive reasoning graph. Users can visualize the logical flow, identify flawed steps, and intervene by pruning incorrect paths and grafting new, user-defined premises. This shifts interaction from passive observation to active collaboration, steering models toward more accurate and trustworthy conclusions. Across GSM8K and StrategyQA, Vis-CoT improves final-answer accuracy by up to 24 percentage points over non-interactive baselines. A user study also shows large gains in perceived usability and trust. Vis-CoT points to a practical path for more reliable, understandable, and collaborative reasoning by combining LLMs with targeted human oversight.

Kaviraj Pather, Elena Hadjigeorgiou, Arben Krasniqi +4

Department of Computer Science & Engineering University of Mauritius R´eduit 80837, Mauritius · Department of Electrical & Computer Engineering Cyprus University of Technology 3036 Limassol, Cyprus · Faculty of Electrical & Computer Engineering University of Prishtina ”Hasan Prishtina” 10000 Prishtina, Kosovo +4

LLM Interpretability Human-in-the-Loop AI Visual CoT LLM Reasoning

Aug 31, 2025

Ultra Strong Machine Learning: LLM-Generated Explanations Do Not Yet Suffice for Teaching Humans Active Learning Strategy

Active learning is a general learning mechanism shared by artificial and human learners. Whether AI can teach humans such a strategy that transfers across domains is an open question. Ultra Strong Machine Learning (USML), a system whose explanations quantifiably improve human out-of-sample performance compared to self-learning, is uniquely positioned to answer this question. Prior USML work relied on hand-crafted explanation templates that require expert effort for each new domain and do not scale. We developed an explanation pipeline combining Inductive Logic Programming (ILP) with large language models (LLMs) to automate explanation generation and scoring. We tested whether these explanations achieve USML in a human trial teaching active learning strategies across three related domains. Our exploratory results show that concise, expert-written explanations benefit learners with higher initial performance, while pipeline-generated explanations provide no advantage over self-learning despite being rated as higher quality from an LLM-as-judge evaluation. This case study reveals a systematic gap that LLM quality metrics do not predict human learning outcomes. Our findings point to explanation complexity relative to task difficulty as a key factor, and call for explanation methods and evaluation criteria grounded in human cognitive constraints rather than LLM preference.

Lun Ai, Johannes Langer, Ute Schmid +1

Department of Computing, Imperial College London, UK · Faculty Information Systems and Applied Computer Science, University of Bamberg, Germany

Active Learning Human-in-the-Loop AI Inductive Logic Programming Explainability Evaluation

Oct 1, 2024

iTeach: In the Wild Interactive Teaching for Failure-Driven Adaptation of Robot Perception

We present iTeach, a deployable system that lets any co-located human fix a robot's perception failures on the spot without expertise, a workstation, or offline retraining. The operator wears a mixed reality (MR) headset, sees the robot's segmentation predictions overlaid on the real scene, and corrects failures hands-free: rearranging objects (HumanPlay), annotating via gaze and voice, and triggering SAM2 backward mask propagation. Each ~20 s interaction yields 150-300 densely labeled training frames; the system fine-tunes the perception model onboard, keeps the better model, and redeploys, all without leaving the deployment site. The full loop requires only an RGB-D camera, onboard GPU, and an MR headset: any mobile robot, any environment. Starting from 26.1 on cluttered real-world scenes, 45 teaching interactions (13K frames) raise segmentation to 80.7 with no catastrophic forgetting; on three standard benchmarks the model never trained on, performance improves as well. Downstream pick-and-place on SceneReplica reaches 72/100, surpassing a model-based pipeline requiring CAD models. A 12-participant user study confirms non-experts match experts on annotation accuracy (~95% box IoU), speed, and task load (NASA-TLX 21/100). The framework is architecture-agnostic: any fine-tunable perception model can serve as backbone.

Jishnu Jaykumar P, Cole Salvato, Vinaya Bomnale +4

The University of Texas at Dallas

Continual Learning Human-in-the-Loop AI Robotic Perception

Aug 22, 2024

Human-In-The-Loop Machine Learning for Safe and Ethical Autonomous Vehicles: Principles, Challenges, and Opportunities

Machine Learning (ML) has become central to Autonomous Vehicles (AVs), supporting perception, prediction, planning, control, and decision-making in dynamic environments. However, achieving full autonomy in cluttered and complex scenarios, such as intricate intersections, diverse scenes, varied trajectories, and complex missions, remains challenging; moreover, data labeling is still a major bottleneck. These limitations motivate Human-in-the-Loop Machine Learning (HITL-ML), in which human input is incorporated through validation, annotation, task organization, reward design, action correction, preference feedback, and supervisory intervention. To advance safe and ethical autonomy, this paper presents a tutorial survey of HITL-ML for AVs, focusing on Curriculum Learning (CL), Human-in-the-Loop Reinforcement Learning (HITL-RL), Human-in-the-Loop Large Language Models (HITL-LLMs), Active Learning (AL), and ethical principles. We first review CL methods that structure training from simple to complex tasks, covering navigation, path planning, obstacle avoidance, data collection, landing, intersection handling, motion planning, and UAV swarm coordination. We then examine HITL-RL through reward shaping, action injection, demonstrations, preference-based feedback, and interactive learning, emphasizing improved learning efficiency, safer policy exploration, and real-time intervention. Next, we review HITL-LLM through collaboration and oversight and specify key challenges. After that, we discuss AL for perception, anomaly detection, semantic mapping, object detection, vehicle recognition, and security-related classification. Ethical principles are reviewed as technical requirements for transparency, accountability, human oversight, safety, security, regulatory compliance, and reliability of human input.

Yousef Emami, Mohammadhossein Homaei, Miguel Gutiérrez Gaitán +4

Active Learning Autonomous Driving Human-in-the-Loop AI