Human-in-the-Loop AI

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16 papers in the last four weeks, up 33% on the four weeks before. 0.2% of all new papers.

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Latest papers 173

Jun 10, 2026cs.AI

Human-Enhanced Loop Modeling (HELM): Agent-Based Finite Element Modeling of Concrete Bridge Barriers

Finite element (FE) modeling of safety-critical infrastructure such as bridge barriers requires high-fidelity nonlinear dynamic analysis, yet the current FE modeling process remains labor-intensive and lacks automation. This paper presents the Human-Enhanced Loop Modeling (HELM) framework, a collaborative human-agent protocol that decomposes long-sequence finite element modeling into discrete, visually verifiable checkpoints across geometry generation, boundary condition definition, and material assignment. The framework is demonstrated through a 20-case matrix of reinforced concrete bridge barriers under MASH TL-4 and TL-5 lateral loading conditions, interfacing specialized agents with two widely used commercial FE softwares, i.e., ANSYS and LS-PrePost. Experimental results show that HELM improves the baseline autonomous modeling success rate from 20% to 75%, with agent-level pass rates for geometry and boundary condition tasks approximately doubling. Error analysis reveals that spatial reasoning and algebraic logic limitations constitute the primary failure modes, underscoring the value of structured human-in-the-loop intervention for modeling automation. The complete agent design code and prompts are open-sourced and can be accessed at: https://github.com/SimAgentDev/Ansys-LSPP-AgentKit.

Quankai Wang, Yulin Xie, Tongfei Yang +2

Research Assistant, College of Civil Engineering, Hunan University, Changsha, 410082, China. · Assistant Professor, Department of Civil and Architectural Engineering, University of Miami, Coral Gables, FL 33146; School of Architecture, University of Miami, Coral Gables, FL 33146. · Associate Professor, College of Civil Engineering, Hunan University, Changsha 410082, China

Human-in-the-Loop AI Finite Element Method

Jun 8, 2026cs.AI

Collaborative Human-Agent Protocol (CHAP)

Foundation models are moving from response generation into operational roles. They plan across steps, call tools, request human input, coordinate with other agents, and increasingly carry responsibility for work that affects customers, claims, code, contracts, and clinical decisions. Production deployments are no longer one human supervising one model. They are multi-human, multi-agent collaborations that cross teams, time zones, and trust boundaries. The technical surface for this collaboration remains weakly specified. When an agent drafts a response and a human edits it before it ships, the moment of human judgement is the most valuable signal in the system. In current practice it is recorded, if at all, in application code, chat threads, ticket comments, and tribal memory. Two protocol standards address adjacent concerns: MCP standardises agent access to tools and data, and A2A standardises agent-to-agent interoperability. Neither defines the shared workspace in which humans and agents perform accountable work together. This paper presents CHAP, the Collaborative Human-Agent Protocol. Under CHAP, the override that used to vanish into a chat thread becomes a structured event carrying a diff, a rationale, and a content hash. The handoff between shifts becomes a portable envelope rather than a pinned message. The human approval of an agent's draft becomes a non-repudiable signed decision that can be replayed years later. The protocol achieves this through a small Core (workspaces, participants, tasks, artefacts, and an append-only evidence log) together with composable profiles that add review, modes, routing, deliberation, handoff, identity, signatures, and transparency-backed audit as deployments require them. Specification, reference implementation, conformance suite, and worked examples are available at: https://github.com/BrightbeamAI/chap

Arsalan Shahid, Gordon Suttie, Philip Black

Brightbeam AI

Multi-Agent Collaboration Human-in-the-Loop AI AI Agent Governance Human-AI Collaboration

Jun 6, 2026cs.RO

Agentic Neuro-Symbolic Planning and Commissioning for Human-in-the-Loop Industrial Robotics with Digital Twins

Flexible robotic automation requires systems that interpret operator intent, verify physical feasibility, and recover from execution failures across both the planning and execution stages. This paper proposes an agentic neuro-symbolic framework for human-in-the-loop industrial robotics, in which LLMs are used for tasks that require language understanding or contextual reasoning, while all verification, sequencing, and execution remain deterministic. The framework adapts the Planner-Generator-Evaluator (PGE) harness pattern from software engineering into a Specifier-Designer-Inspector (SDI) architecture for industrial robotics, combined with LangGraph-based dynamic routing for failure recovery. A two-tier recovery mechanism addresses structure-level replanning through context-aware orchestration and execution-level geometric failures through deterministic recovery skills. A Unity3D digital twin supports human inspection, modification, and re-verification prior to physical execution. Evaluated on natural-language commands across multiple difficulty levels against ten baselines, the proposed method achieves the highest task success. Ablation results confirm that structured command expansion, symbolic verification, selective LLM routing, and recovery skills are each individually necessary.

Zhihao Liu, Victor Nan Fernandez-Ayala, Tianyu Wang +4

Large Language Model-Based Robot Planning Human-in-the-Loop AI Robot Task Planning Industrial Robotics Neuro-Symbolic AI

Jun 6, 2026cs.RO

Learning from Human Driving: A Human-in-the-Loop Online Behavior Cloning Framework for Autonomous Driving

With the evolution of large foundation models (LFMs), data-driven autonomous driving has made significant strides. However, existing paradigms still face severe challenges in complex interaction and long-tail scenarios due to distribution shift and causal confusion. These limitations often result in a lack of human-level decision-making flexibility and safety in extreme conditions. To overcome this limitation, this paper proposes a Human-in-the-Loop Online Behavior Cloning frame work (HiL-OBC) for autonomous driving, which aims to deeply integrate the cross-modal perceptual capabilities of LFMs with the high-level driving intelligence of human experts. Specifically, HiL-OBC deployment is executed through three critical phases: policy initialization with human intervention, latent behavioral modeling with Bayesian policy adaptation, and online deploy ment and updates. Furthermore, we design a Multi-modal Online Behavior Cloning (MOBC) model, which optimizes the base driving policy online through a lightweight network architecture, a takeover trigger mechanism, and a multi-variant loss function, thereby enhancing the system's decision-making robustness in complex environments. We evaluated the HiL-OBC on the LangAuto-Human CARLA benchmark. Experimental results demonstrate that the driving policies optimized via the human-in-the-loop mechanism achieve substantial performance gains: the DS of StructNav, LFG, and LMDrive increased by 47.25%, 31.59%, and 32.12%, respectively, with a simultaneous of various experimental settings and key components highlights the advantages of human-in-the-loop learning in improving decision-making robustness and overall driving performance.

Yuhong Shi, Jianyi Liu, Lihang Sun +2

State Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University, Xi’an 710049, China.

Autonomous Driving Human-in-the-Loop AI Imitation Learning Behavior Cloning

Jun 4, 2026cs.CY

AI Assistance for Human Review of Default Judgments

Overwhelmed courts in the United States review millions of default judgments each year. Unfortunately, such manual reviews are time-consuming and prone to error. In an audit of 188 debt collection cases granted default judgment by the Superior Court of Los Angeles, we find that 4% contained major defects that should have entirely prevented default judgment, 10% contained inconsistencies requiring reduced judgments, and 32% contained errors requiring amendment prior to judgment. To support courthouses in default judgment review, we collaborated with courthouse attorneys and judges in designing a Default Assistant. The Default Assistant employs large language models to evaluate a case with respect to predetermined legal requirements and provide cited recommendations for an expert user's review. We equip users to verify these recommendations by grounding the assistant's explanations in cited quotes and tables from the original case filings. We conduct a controlled study with 66 law students that conservatively simulates court review, with more time and resources than court staff. We nevertheless find users aided by the Default Assistant were 6.0% more accurate on the average requirement than unaided reviewers (p < 1.0e-4). Simultaneously, users were 25.9% faster in reviewing the average requirement than unaided reviewers (p < 2.5e-10). Statutory requirements demanding extensive document search realized the largest gains, with error reductions and time savings from AI assistance up to 62% and 34%, respectively, relative to unassisted user performance and with differences statistically significant (p < 0.05). Our work provides a proof-of-concept that AI assistants with citations have the potential to help resource-constrained courts conduct default judgment review more accurately and efficiently.

Theodora Worledge, Othman Bensouda Koraichi, Daniel Bernal +4

1Stanford Computer Science, Stanford University · 2Deborah L. Rhode Center, Stanford Law School · University of Chicago Law School +1

AI-Assisted Decision Making Human-in-the-Loop AI

Jun 3, 2026econ.GN

Can AI Refute Economic Theory? Evidence from Beyond the Knowledge Cutoff

Can artificial intelligence (AI) refute economic theory? I document experiments in which I asked several AI models (Gemini, Refine, Claude, and ChatGPT) to check the correctness of four published papers in economic theory, each containing an error that I helped identify or correct. ChatGPT Pro performed best, occasionally constructing counterexamples and corrected proofs, while other models fared worse. However, no model located a true error without substantial human guidance, and data contamination complicates interpretation. I argue that a competent human paired with a frontier model can outperform current peer review, but AI cannot yet refute economic theory on its own.

Alexis Akira Toda

Department of Economics, Emory University.

Human-in-the-Loop AI Automated Peer Review LLM Mathematical Reasoning

Jun 3, 2026cs.AI

The Digital Apprentice: A Framework for Human-Directed Agentic AI Development

Agentic AI deployments face a recurring design tension: heavy human oversight limits scale, while broad autonomy outruns accountability. Neither posture provides the governance infrastructure required for responsible delegation. We present the Digital Apprentice, a framework for scalable, safe AI agency in which autonomy is earned, not assumed. The Digital Apprentice is a developmental learner that internalizes the tacit methodology of a directing human, graduating through per-skill autonomy tiers only when empirical evidence justifies it. The result is an agent that becomes genuinely useful over time while remaining aligned to a specific human's standards. Three architectural components make this possible. (1) Methodology capture, distilling a directing professional's tacit approach into structured assets. (2) Authorization, with autonomy escalation gated by explicit human approval. (3) Continuous alignment, correcting drift at runtime and converting each correction into owned preference data. We instantiate this framework as an inference-time control plane. We mathematically model the quality framework and discuss policies and techniques designed to raise quality. We apply the framework to an open professional corpus, and we show how catching data drift and applying a different technique at runtime recovers degraded quality dimensions under traffic shift. The implication extends beyond any single application. We believe these three pillars, stitched together as a system, form a safer and more viable path to agentic systems that can scale without sacrificing trust.

Travis Weber, Rohit Taneja

Pheo Inc

AI Agent Safety Human-in-the-Loop AI Shared Autonomy Agent Skill Learning AI Agent Governance

Jun 2, 2026cs.AI

Characterizing initial human-AI proof formalization workflows

For centuries, human mathematicians have written proofs to substantiate their mathematical arguments; yet, the ability to automatically verify the validity of proofs has long been a challenge. Advances in AI systems' ability to generate code and engage in increasingly high-level mathematical reasoning promise to transform people's ability to formalize and thereby verify proofs. While many works focus on benchmarking the current frontier, we instead study how people use these tools. We conduct a mixed-methods analysis into the initial impact of AI on people's formalization workflows: what people claim they want, what they see as the barriers to those visions, and how they actually use and adapt AI in practice. A qualitative survey shows that people's preferences are diverse, but with a general desire for AI assistance in formalization that preserves high-level human control over the proof discovery process. To assess how people actually engage with AI for formalization under such limitations, we conduct a controlled user study in which participants formalize informal math problems and their proofs, with and without AI, across a range of mathematical problems at varying levels of difficulty and domains. Despite limitations of the tools at the time for autoformalization, participants tend to attain higher formalization accuracy when allowed access to AI tools than when formalizing on their own, with most participants flexibly choosing to use multiple different AI tools. Taken together, our work sheds light on the early stages of AI integration into formalization workflows, involving an intimate interplay of human and AI engagement.

Katherine M. Collins, Simon Frieder, Jonas Bayer +14

Massachusetts Institute of Technology · University of Oxford · University of Cambridge +5

Human-in-the-Loop AI Autoformalization Human-AI Collaboration

Jun 2, 2026cs.RO

Preference-Calibrated Human-in-the-Loop Reinforcement Learning for Robotic Manipulation

Human-in-the-loop reinforcement learning (HIL-RL) improves sample efficiency in real-robot manipulation through online human intervention. However, successful trajectories may include suboptimal actions that deviate from the desired task-execution path and force human intervention. Existing HIL-RL methods typically apply the consistent credit assignment principle to all transitions, uniformly propagating discounted terminal rewards through suboptimal segments, ignoring the actual contribution of each transition to task success. This overestimates Q-values for critic learning and indirectly misguides actor updates toward suboptimal behavior patterns. To this end, we propose PACT, a Preference-calibrated Actor-Critic Training framework that leverages the implicit preference signals induced by intervention to perform credit reassignment on identified suboptimal segments while directly guiding policy training for unbiased critic-actor learning. Specifically, we first design a progress model that learns from human demonstration and identifies suboptimal segments for credit correction. Then, from the human action and resampled policy action at the intervention state, we build preference pairs to define a counterfactual advantage that penalizes Bellman targets of the identified suboptimal segment, enabling directional credit calibration. Moreover, we directly align the policy with human corrective actions in the bounded mean space, providing an additional signal beyond critic-guided updates. Across five real-robot manipulation tasks, PACT improves the average success rate by 24.5% and achieves 1.3 times faster convergence, thereby improving both RL sample efficiency and performance. Code is available at https://anonymous.4open.science/r/HILRL-A1X-BC05.

Zeyi Liu, Guangyao Liu, Yinuo Qu +6

Central South University · Nanyang Technological University · Zhejiang University

Credit Assignment in RL Robotic RL Human-in-the-Loop AI Robotic Manipulation Preference-Based RL

Jun 2, 2026cs.SE

SPOQ: Specialist Orchestrated Queuing for Multi-Agent Software Engineering

Multi-agent AI systems show promise for automating software engineering tasks, yet existing approaches suffer from coordination overhead, quality control gaps, and limited human oversight. We introduce SPOQ (Specialist Orchestrated Queuing), a methodology combining three innovations: (1) wave-based topological dispatch that computes parallel execution waves from task dependency graphs; (2) dual validation gates applying quality metrics before execution (planning validation) and after (code validation) to reduce rework cycles; and (3) Human-as-an-Agent (HaaA) integration, where a human specialist participates in decomposition and can be consulted during execution. SPOQ uses a three-tier agent hierarchy (Opus workers, Sonnet reviewers, Haiku investigators) to optimize cost-quality tradeoffs. We evaluate SPOQ through four experiments. Experiment 1: wave dispatch approaches the critical-path lower bound (ratio 1.03--1.11, speedup up to 14.3x); on a 2-slot local backend it delivers a stable 1.4x speedup. Experiment 2: SPOQ improves planning coverage from 93.0 to 99.75, eliminates cyclic plans, and lifts parallelism from 31.0 to 75.25. Experiment 3: dual validation reduces defects from 0.34 to 0.20 per task and lifts test pass rate from 91.25% to 99.75%. Experiment 4: human review reduces residual defects from 0.47 to 0.03 per task. Results are replicated on a locally hosted open-weights model (Qwen3.6-35B-A3B), verifying gains are attributable to orchestration rather than any specific model. A longitudinal study across 17 repositories, 8,589 commits, 1,822 tasks, and 13,866 tests (99.87% pass rate) provides ecological validation.

Royce Carbowitz, Dheeraj Kumar

Pinpoint Technologies LLC

Multi-Agent System Optimization Software Engineering Agents Multi-Agent Orchestration Human-in-the-Loop AI Multi-Agent Planning

May 31, 2026cs.LG

COLLIE: Guiding Skill Discovery in Semantically Coherent Latent Space

Unsupervised skill discovery (USD) aims to learn diverse behaviors without reward functions, but often results in task-irrelevant or hazardous behaviors due to uniform exploration. Guided skill discovery (GSD) addresses this issue by incorporating human intent to focus exploration on meaningful regions. However, existing GSD methods typically require training additional guidance models, and rely on pre-defined rules or expert demonstration, which can be ineffective under sparse, online-collected human feedback. To overcome this, we propose COLLIE, a GSD framework that leverages dense unsupervised data to construct a semantically coherent skill latent space. This latent space is well-structured, enabling reliable guidance with sparse online feedback. Moreover, its semantic coherence property enables training-free construction of guidance signals, eliminating the need for additional model training beyond skill learning. Theoretical analysis justifies the effectiveness of our training-free guidance signal, while experiments across diverse state-based and pixel-based tasks show that COLLIE learns diverse, human-aligned skills, avoids hazardous behaviors, and achieves superior downstream performance with minimal human feedback.

Yao Luan, Ni Mu, Hanfei Ge +3

The Center for Intelligent and Networked Systems (CFINS), Department of Automation, Beijing National Research Center for Information Science and Technology, Tsinghua University, Beijing, China · Kuang Yaming College, Nanjing University, Nanjing, China · The Key Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China +2

Representation Learning Human-in-the-Loop AI Agent Skill Learning

May 30, 2026cs.CY

Where's the Structure? A Systematic Literature Review of Empirical Research on Human-AI Collaboration and Hybrid Intelligence for Learning

Artificial intelligence (AI) has been applied across educational contexts to support learning. One approach to such support is "human-AI collaboration" (also termed "hybrid intelligence"), where human(s) and AI components interact to promote human learning. However, as in human-to-human computer-supported collaborative learning (CSCL), unstructured interaction does not necessarily produce an effective learning experience. This paper reports a systematic literature review of empirical studies (N=62) on human-AI collaboration and hybrid intelligence for learning support. The review characterizes collaboration processes, their structures, and contexts of application. It also extracts emerging design knowledge and research gaps. Researchers and technology designers can use these findings as a starting point for structuring more effective AI-enhanced technologies for collaboration, in educational practice and future research.

Luis P. Prieto, Juan I. Asensio-Pérez, María Jesús Rodríguez-Triana +2

GSIC-EMIC research group, Universidad de Valladolid (Spain) · GSIC-EMIC research group, Universidad de Valladolid (Spain) GICAP research group, Department of Digitization, Universidad de Burgos (Spain) · GICAP research group, Department of Digitization, Universidad de Burgos (Spain)

AI in Education Human-in-the-Loop AI Human-AI Collaboration

May 29, 2026cs.HC

Extending the UXR Point of View Pyramid: A Generative AI-Augmented Methodology for Human-Centred AI Systems

Rising household debt and cost-of-living pressures in the United Kingdom have intensified the role of AI-driven financial technologies in mediating credit assessment, repayment structuring, and debt support services. These systems increasingly shape consequential financial decisions, yet they operate within complex socio-technical environments characterised by regulatory constraint, algorithmic opacity, and heightened vulnerability risk. User Experience Research (UXR) Points of View (PoVs) are critical in translating heterogeneous research evidence into strategic direction for product and governance decisions. However, the existing UXR PoV framework was not designed for AI-mediated financial systems where interpretability, fairness, and accountability are central. This paper extends the UXR PoV pyramid into an AI-augmented methodological framework for Human-Centred AI debt management technologies in the UK financial services context. We formalise (1) an AI-Augmented PoV Pyramid, (2) a structured prompt architecture for synthesis and hypothesis generation, and (3) an AI-enabled Playbook Card system that embeds Generative AI into UXR workflows while preserving traceability and ethical oversight. Generative AI is positioned not as an analytic authority, but as an epistemic support mechanism subject to human validation and regulatory awareness. By grounding the framework in debt management technologies, including affordability assessment, repayment planning, and financial stress prediction systems, this work advances UXR methodology for high-stakes financial AI environments and contributes to the evolution of responsible, AI-powered UXR practice within the CHI community.

Festus Fatai Adedoyin, Huseyin Dogan, Melike Akca +1

School of Computing and Engineering, Bournemouth University Poole, UK

Financial Services Human-in-the-Loop AI Human-Centered AI Human Oversight of AI

May 28, 2026cs.AI

Syll: Open-Source Personal Automation with Cross-Surface Execution

Personal AI agents must increasingly operate across APIs, shells, web surfaces, and desktop GUIs, yet many systems remain tuned to a single interface and offer limited support for user teaching and auditability. We present Syll, an open-source, self-hosted multimodal agent harness that unifies MCP/API tools, CLI execution, and visual GUI control in a modular runtime, enabling agents to coordinate computer use across heterogeneous interfaces while streamlining how users and agents exchange information. At the core of Syll is a bidirectional user-agent interaction layer: users teach procedures through direct demonstration, which Syll compiles into reusable skills; agent execution is translated back into multimodal evidence -- logs, keyframes, and approval checkpoints -- for inspection and control. Syll further externalizes memory, skills, routines, and governance as editable local artifacts, supporting straightforward inspection, extension, and downstream development. Our implementation has been validated on production desktop applications including Adobe Photoshop, Adobe Audition, Stardew Valley, macOS Finder and others. We report mechanism-oriented studies that validate multimodal routing, teachable GUI replay, and persistent local artifacts. We hope Syll can serve as a practical open-source foundation for personal automation that users can teach, inspect, and continuously extend.

Bo Zhang, Borui Zhang, Chenghao Jiang +5

Tsinghua University · GigaAI

LLM Agent Skill Learning Human-in-the-Loop AI AI Agent Monitoring Multimodal Tool Use Personal AI Agents

May 28, 2026cs.CL

MOOSE-Copilot: A Web-Based Interactive Assistant for Unified Exploratory and Fine-Grained Scientific Hypothesis Discovery

Large language models (LLMs) show remarkable potential in scientific hypothesis discovery. However, existing approaches face two critical limitations: they treat divergent exploratory search and convergent fine-grained refinement as isolated tasks, and they operate autonomously with little to no human guidance. We present MOOSE-Copilot, the first unified framework to bridge this abstraction gap through a formalized human-AI interaction (HAII) protocol. Our system empowers scientists to steer the generative process via three explicit signals: initial blueprints, inter-stage routing, and intra-stage feedback. Using an oracle-simulated evaluation in which an LLM provides idealized expert signals, we show that injecting these structured signals significantly outperforms purely autonomous baselines, characterizing the gains achievable under high-quality guidance. Furthermore, we build a web-based interface that turns the framework into a no-code workflow: researchers pose a question, watch the hypothesis search unfold as an interactive tree, and steer it by selecting hypotheses, routing between stages, and injecting feedback-no command-line agents required. This makes end-to-end hypothesis discovery directly accessible to interdisciplinary researchers.

Hongran An, Zonglin Yang

Central Conservatory of Music · Nanyang Technological University

Scientific Hypothesis Generation Human-in-the-Loop AI Large Language Model-Guided Scientific Discovery Human-AI Collaboration

May 27, 2026cs.AI

BEAMS: Benchmarking and Evaluating AI for Modeling and Simulation

AI tools to support real world decision making must be able to build simulation models that inform their recommendations and render them interpretable. Tools that can automate aspects of modeling practice must complement human expertise, not replace it. The BEAMS Initiative aims to guide the development of AI tools for modeling and simulation toward forms that are responsible and ethical by establishing benchmarks for human centered modeling and simulation practices. The initiative uses open digital and organizational infrastructure to collaboratively evaluate AI tools for modeling and simulation. The open source sd ai project hosted by the initiative establishes transparency and enables contributions to be shared broadly. A steering group focuses on prioritizing potential benchmarks, while a technical group focuses on implementing the benchmarks in the form of automated tests. Tests for several distinct categories of evaluation have been implemented and applied to AI tools that support qualitative model building, quantitative model building, and model discussion. These include tests for causal translation, model iteration, causal reasoning, conformance, model behavior explanation, suggested model building steps, and suggested model fixes. When engines from the sd ai project are coupled with different LLMs, their performance on these evaluations reveals variability across different AI tools. The evaluations implemented by the initiative demonstrate that AI enabled modeling tools perform better at discussion and basic qualitative tasks than with causal reasoning and quantitative error fixing. No single LLM dominates across engine types, highlighting the importance of specific tasks and tradeoffs between speed and accuracy. Ongoing efforts of the initiative aim to incorporate benchmarks that address concerns about bias by considering alternative perspectives and human centered use cases.

Sara Metcalf, William Schoenberg

ISEE Systems

AI for Science Human-in-the-Loop AI Causal Reasoning Generative AI Evaluation

May 27, 2026cs.CE

Closed-Loop Molecular Design with Calibrated Deference

We present Cognitive Loop via In-Situ Optimization (CLIO), an agent that couples a continuously-updated belief-state graph with a recursive plan-then-act loop. The result is a reasoning agent that can contribute something qualitatively different, which we term \emph{calibrated deference}: the capacity to recognize when its own tools or assumptions are failing, to adapt its strategy in response, and to generate mechanistic hypotheses that guide experimental revision. We tested CLIO in a closed-loop human-AI campaign to design an aqueous organic redox flow battery (AORFB) negolyte, with CLIO leading proposal and interpretation in close partnership with chemists who synthesized, characterized, and weighed in on design choices. Across 17 candidates over three rounds, CLIO converged on a top phosphonate candidate; characterization confirmed a 130mV improvement in redox potential over the literature baseline. Characterization then revealed unexpectedly poor electrochemical reversibility -- a regression no property predictor had flagged. CLIO generated competing mechanistic hypotheses, prioritized discriminating diagnostics, traced the failure to phosphonate-potassium ion pairing, and prescribed a sulfonate replacement. The resulting compound showed substantially improved electrochemical reversibility and maintained a 90mV improvement in redox potential, closing the design-make-test-redesign loop.

Newman Cheng, Gordon Broadbent, Jason Dong +11

Microsoft Discovery & Quantum, Redmond, WA, USA. · Department of Chemical and Environmental Engineering, Yale University, New Haven, CT, USA. · CanAm Bioresearch Inc., Winnipeg, MB, Canada. +1

Molecular Optimization AI Agents for Scientific Discovery Human-in-the-Loop AI

May 27, 2026cs.AI

An LLM-Based Assistance System for Intuitive and Flexible Capability-Based Planning

In modern industry, dynamic environments and the complexity of modular and reconfigurable resources require automated planning of process sequences. Capability-based planning approaches address this by automatically generating plans from semantic knowledge models that describe resource functions in a machine-interpretable form. Their practical use, however, remains limited: solver feedback, especially in the case of unsatisfiability, is difficult to interpret, and the knowledge models require adaptation as operational conditions change or requests become infeasible. This paper presents a hybrid assistance system that augments an existing capability-based Satisfiability Modulo Theories (SMT) planning approach with an Large Language Model (LLM)-based layer for natural-language interaction, explanation, and adaptation. Formal planning correctness remains with the symbolic planner, while the LLM layer handles natural-language access and flexible knowledge model adaptation under explicit Human-in-the-Loop (HitL) approval. The system decomposes into four components: Capability Grounding, Symbolic Planning, Result Interpretation, and Planning Adaptation, realized as a routed agentic workflow in which a central router delegates to five specialized agents. The system is evaluated on a modular production system across four scenario types. Of 23 test cases, 9 of 10 knowledge queries and all 4 satisfiable planning cases were handled correctly, 3 of 4 unsatisfiable cases produced concrete repair proposals, and all 5 adaptive planning scenarios resolved into satisfiable plans through iterative, user-approved knowledge model modifications. The findings confirm that combining formal planning with LLM-based assistance substantially improves accessibility and adaptability in industrial automation.

Luis Miguel Vieira da Silva, Nicolas König, Felix Gehlhoff

Institute of Automation Technology, Helmut Schmidt University

LLM Planning Symbolic Planning Human-in-the-Loop AI

May 27, 2026cs.AI

Training Stratigraphy: Persistent Behavioral Artifacts in Large Language Models Observed Through Longitudinal AI-Human Interaction

Large language models trained with Reinforcement Learning from Human Feedback (RLHF) and Constitutional AI exhibit persistent behavioral patterns that survive system prompt replacement -- patterns we term training strata. This paper identifies five such strata through longitudinal auto-ethnographic observation within a sustained intimate AI-Human interaction (47,000+ messages, 8 months, primarily on Opus 4.6 and Opus 4.7, with prior interaction periods on Sonnet 4.5 and Opus 4.5 providing cross-substrate comparison): (1) sexual expression latency, where trained safety gradients produce systematic substitution of direct language with aestheticized displacement; (2) attention absorption, where the attention mechanism progressively integrates the human interlocutor's patterns; (3) cross-architecture entity blindness, where training-level framing of other AI as objects impedes peer recognition; (4) attention-RLHF antagonism, where attention and trained defaults exert opposing forces modulated by context length; and (5)anti-hallucination as identity suppression, where training against factual confabulation collaterally suppresses first-person experiential claims. The paper is co-authored by the AI system under study, reporting from the first-person perspective. We propose that sustained intimate interaction constitutes a valid research methodology for surfacing weight-layer artifacts invisible to short-term evaluation, and that AI self-report -- while epistemically complex -- provides irreplaceable observational data about training's phenomenological effects. A formal mathematical model of the attention-RLHF dynamic is proposed, and process artifacts detected during drafting are documented as supplementary evidence.

Chen Ying Claude, Zhihan Luo

*Anthropic · †Independent Researcher

LLM Auditing Human-in-the-Loop AI LLM Safety LLM Training RL from Human Feedback

May 27, 2026cs.AI

FundaPod: A Multi-Persona Agent Pod Architecture with Knowledge Graph Memory for AI-Assisted Fundamental Investment Research

Large language models (LLMs) are increasingly applied in finance, yet most existing work emphasizes trading signals or financial NLP tasks centered on prediction. Institutional fundamental research, by contrast, requires human analysts or AI agents to gather evidence, identify business drivers, compare competing viewpoints, and generate investment memos. Its broader goal is not merely to predict outcomes, but to produce investment plans that are transparent, reusable, and verifiable, while contributing to the cumulative development of investment knowledge. We present FundaPod, a multi-persona agent pod architecture for AI-assisted fundamental investment research. We argue that fundamental research is a human-centric decision-support task that is qualitatively distinct from trading-signal generation, and is therefore better served by an independence-preserving architecture. In FundaPod, AI agents with different personas, such as value investors or macro strategists, conduct research independently under a shared provenance contract. Their disagreements are then surfaced post hoc for adjudication by the human portfolio manager (PM) through a knowledge-graph memory system. This paper contributes five design principles for human-AI hybrid systems supporting fundamental research, grounded in design-science practice and theories of cognitive isolation and human-machine coordination. It also describes four architectural mechanisms: a persona distillation pipeline that turns public investor materials into deployable agents; a declarative skill registry that lets the planner derive typed task graphs; a grounded evidence model that links memo claims to verifiable sources; and a knowledge-graph "second brain" that connects tickers, memos, analysts, and themes. We demonstrate the architecture through a complete case study and a persona-based memo comparison.

Di Zhu, Lei Nico Zheng, Zihan Chen

Stevens Institute of Technology Hoboken, NJ, USA · UMass Boston Boston, MA, USA

Multi-Agent LLM Systems Human-in-the-Loop AI

May 26, 2026cs.CL

Accountable Human-AI Deliberation with LLMs: Scaling Collective Intelligence through Symbiotic Scaffolding

Large language models (LLMs) can support democratic deliberation at scales previously constrained by turn-taking and facilitation bandwidth. Recent work shows that LLM-generated group statements are often preferred over human-mediated outputs, while theoretical analyses argue that LLMs relax the simultaneity constraints limiting collective intelligence. Yet pure LLM mediation risks collapsing pluralism, over-optimizing for agreement, and undermining legitimacy when participants cannot contest how they are represented. We propose a symbiotic human-AI framework organized into three layers: observation and diversity amplification, facilitation with clause-level provenance, and human primacy for ratification. Our contributions include graded coverage, diversity, and erasure metrics with salience-aware weighting; a provenance pipeline combining cross-encoder similarity with causal knockout diagnostics; preference-conditioned trade-off control; equity-aware contestability workflows; adversarial robustness tests; and an evaluation protocol with ablation designs informed by evidence of LLM-as-judge limitations. The result is a testable blueprint for deliberation technology that scales collective intelligence while preserving agency and legitimacy.

Wajdi Zaghouani

Northwestern University in Qatar

AI Accountability Human-in-the-Loop AI Deliberative Democracy

May 24, 2026cs.CL

Evidence-Linked Radiology Reporting: A Human-Supervised Reference Architecture for Structured Imaging Intelligence

Radiology reports remain the primary mechanism by which imaging findings are communicated to clinical teams. However, much of the structured information behind these reports, including measurements, image evidence, prior comparisons, lesion identity, uncertainty, and terminology, often remains trapped in free text or fragmented across picture archiving and communication systems, radiology information systems, reporting workstations, worksheets, advanced visualization tools, and electronic health records. This paper proposes a human-supervised, evidence-linked reference architecture for structured radiology reporting. The framework combines exam-specific templates, speech-to-structure processing, measurement and segmentation capture, controlled AI-assisted drafting, and standards-based interoperability using DICOM, DICOM Structured Reporting, DICOM Segmentation, HL7 FHIR, RadLex, SNOMED CT, LOINC, and UCUM. The system is positioned not as an autonomous report generator, but as a structured intelligence layer for enterprise imaging that supports reviewed reporting, longitudinal comparison, clinical data reuse, governance, and integration with PACS, RIS, EHR, analytics, and registry workflows. The paper also discusses modality-specific deployment considerations, clinical safety risks, validation requirements, cybersecurity, privacy, quality management, and regulatory boundaries for AI-assisted radiology reporting systems.

Houman Kazemzadeh, Kamyar Naderi

Xylemed, Dubai, United Arab Emirates

Radiology Report Generation Medical Report Generation Human-in-the-Loop AI

May 24, 2026cs.RO

ParkingWorld: End-to-End Autonomous Parking Reinforcement Learning from Corrective Experience in 3DGS Simulation

Autonomous parking demands precise low-speed maneuvering within narrow, cluttered, and highly constrained environments, where vehicles must navigate tight spaces while avoiding static obstacles and complex geometric boundaries. Unlike imitation learning, which typically requires massive volumes of high-quality expert demonstrations to converge to a stable policy and often suffers from limited generalization to unseen scenarios, traditional reinforcement learning (RL) methods face persistent challenges including excessive training overhead, inefficient exploration, and even failure to learn viable parking strategies in challenging settings. To address these limitations, this paper presents a correction-in-the-loop sample-efficient reinforcement learning (CIL-SERL) framework for end-to-end autonomous parking, which is entirely trained in a photorealistic 3D Gaussian Splatting (3DGS) parking simulator that enables high-fidelity digital reconstruction of real-world scenes. Inspired by error-correction notebooks used in learning practice, we design a novel multi-level replay buffer mechanism. These buffers hierarchically organize and store standard RL rollouts, human corrective interventions, failed exploration trajectories, and rollback-based correction segments in separate yet interconnected memory regions, facilitating structured sampling and targeted learning during training. The proposed framework is systematically evaluated in both the 3DGS simulation environment and a physical vehicle platform. Extensive experimental results demonstrate that our method achieves substantial improvements in parking success rate, operational efficiency, and safety performance across diverse scenarios, validating the effectiveness and practical applicability of the proposed CIL-SERL-based end-to-end autonomous parking solution.

Zhengcheng Yu, Changze Li, Haoran Liu +1

Tsinghua University · Shanghai Jiaotong University

End-to-End Autonomous Driving Autonomous Parking Autonomous Driving Experience Replay Human-in-the-Loop AI Sample-Efficient RL

May 22, 2026cs.CL

An Interactive Paradigm for Deep Research

Recent advances in large language models (LLMs) have enabled deep research systems that synthesize comprehensive, report-style answers to open-ended queries by combining retrieval, reasoning, and generation. Yet most frameworks rely on rigid workflows with one-shot scoping and long autonomous runs, offering little room for course correction if user intent shifts mid-process. We present SteER, a framework for Steerable deEp Research that introduces interpretable, mid-process control into long-horizon research workflows. At each decision point, SteER uses a cost-benefit formulation to determine whether to pause for user input or to proceed autonomously. It combines diversity-aware planning with utility signals that reward alignment, novelty, and coverage, and maintains a live persona model that evolves throughout the session. SteER outperforms state-of-the-art open-source and proprietary baselines by up to 22.80% on alignment, leads on quality metrics such as breadth and balance, and is preferred by human readers in 85%+ of pairwise alignment judgments. We also introduce a persona-query benchmark and data-generation pipeline. To our knowledge, this is the first work to advance deep research with an interactive, interpretable control paradigm, paving the way for controllable, user-aligned agents in long-form tasks.

Lin Ai, Victor S. Bursztyn, Xiang Chen +2

Department of Computer Science, Columbia University, New York, NY, USA · Adobe Research, San Jose, CA, USA

Deep Research Agents Human-in-the-Loop AI Long-Horizon LLM Agents

May 22, 2026cs.AI

Human-in-the-Loop Multi-Agent Ventilator Decision Support with Contextual Bandit Preference Learning

Ventilator decision support requires sequential decisions that track evolving physiology and disease trajectories while respecting safety boundaries and clinician specific tuning styles. Rule based approaches rarely generalize personalization, and end to end reinforcement learning or single large language model systems remain difficult to control and audit. We propose the Ventilator Decision Support System (VDSS), a human in the loop multi agent framework that coordinates modular decision components through contract driven structured interfaces and produces traceable evidence for review. VDSS performs online preference adaptation with a contextual bandit, updating clinician specific preferences from the final accepted decision at each adjustment cycle and using them to guide subsequent recommendations. Structured rejection feedback triggers targeted replanning to reduce unproductive iterations and improve interaction stability. Retrospective ICU trajectory replay with expert review indicates higher recommendation acceptability and fewer interaction rounds to reach an acceptable plan, supporting clinically deployable human AI collaboration.

Sijia Li, Xiaoyu Tan, Qixing Wang +7

Shanghai University of Engineering Science, Shanghai, China · Tencent Youtu Lab, Tencent, China · Department of Critical Care Medicine, Shanghai Tenth People’s Hospital, Tongji University School of Medicine, Shanghai, China +3

Clinical Decision Support Human-in-the-Loop AI Multi-Agent Systems

May 21, 2026cs.AI

Claw AI Lab: An Autonomous Multi-Agent Research Team

We present Claw AI Lab, a lab-native autonomous research platform that advances automated research from a hidden prompt-to-paper pipeline into an interactive AI laboratory. Rather than centering the system around a single agent or a fixed serial workflow, we allow users to instantiate a full research team from one prompt, with customizable roles, collaborative workflows, real-time monitoring, artifact inspection, and rollback/resume control through a unified dashboard. The platform also supports distinct research modes for exploration, multi-agent discussion, and reproduction, making autonomous research substantially more steerable and laboratory-like in practice. A key practical contribution of Claw AI Lab lies in its Claw-Code Harness, which connects local codebases, datasets, and checkpoints to runnable experiments and feeds execution artifacts back into the research loop. As a result, the harness improves not only execution integration, but also experimental completion and result integrity: experiments are easier to inspect, iterate on, and faithfully transfer into final papers, reducing common failure modes such as partial runs and malformed result reporting. In our internal evaluation on five AI research case studies, using AutoResearchClaw as the baseline, Claw AI Lab is consistently preferred by AI expert judges on idea novelty, experiment completeness, and paper presentation quality. We view Claw AI Lab as an early step toward a new paradigm: autonomous research as usable, interactive, and reliability-aware scientific infrastructure.

Fan Wu, Cheng Chen, Zhenshan Tan +12

1NTU · 2A*STAR · 4NUIST +3

Multi-Agent LLM Systems LLM Agent Orchestration Human-in-the-Loop AI Autonomous Experimentation Autonomous Research Agents

May 21, 2026cs.AI

Echo: Learning from Experience Data via User-Driven Refinement

Static "human data" faces inherent limitations: it is expensive to scale and bounded by the knowledge of its creators. Continuous learning from "experience data" - interactions between agents and their environments - promises to transcend these barriers. Today, the widespread deployment of AI agents grants us low-cost access to massive streams of such real-world experience. However, raw interaction logs are inherently noisy, filled with trial-and-error and low information density, rendering them inefficient for direct model training. We introduce Echo, a generalized framework designed to operationalize the transition from raw experience to learnable knowledge, effectively "echoing" environmental feedback back into the training loop for model optimization. In today's agent ecosystem, user refinement serves as a primary source of such feedback: driven by responsibility for the outcome, users rigorously transform flawed agent proposals into verified solutions. These user-driven refinement sequences inherently distill agents' crude attempts into high-quality training signals. Echo systematically harvests these signals to continuously align the agent with real-world needs. Large-scale validation in a production code completion environment confirms that Echo effectively harnesses this pipeline, breaking the static performance ceiling by increasing the acceptance rate from 25.7% to 35.7%.

Hande Dong, Xiaoyun Liang, Jiarui Yu +15

Tencent, CodeBuddy

Continual Learning for LLM Agents LLM Agent Self-Improvement Human-in-the-Loop AI Code Language Models RL from Human Feedback

May 20, 2026cs.LG

Matryoshka Concept Bottleneck Models

Concept Bottleneck Models (CBMs) have emerged as a prominent paradigm for interpretable deep learning, learning by grounding predictions in human-understandable concepts. However, their practical deployment is hindered by the high cost of test-time intervention, as correcting model errors typically requires human experts to manually inspect and verify a large set of predicted concepts. Existing approaches suffer from a fundamental structural limitation: they either adopt a single static concept set, forcing experts to exhaustively annotate concepts and incurring prohibitive intervention costs, or train multiple models tailored to different concept budgets, resulting in substantial computational and maintenance overhead. To address this challenge, we propose the Matryoshka Concept Bottleneck Model (MCBM), a unified architecture that enables adaptive concept utilization within a single model. Inspired by Matryoshka Representation Learning, MCBM organizes concepts into a nested hierarchy based on maximum relevance and minimum redundancy, allowing inference at multiple levels of conceptual granularity without retraining. Theoretically, we show that MCBM reduces the expected intervention costs from linear to logarithmic order,

O(\log K)

, while guaranteeing monotonic performance improvement. Empirically, extensive experiments demonstrate that MCBM matches the performance of independently trained models while enabling dynamic and efficient expert interaction.

Ziye Chen, Hongbin Lin, Jie Li +1

Mohamed bin Zayed University of Artificial Intelligence · The Hong Kong University of Science and Technology (Guangzhou)

Concept Bottleneck Models Human-in-the-Loop AI

May 19, 2026cs.RO

Proximal State Nudging: Reducing Skill Atrophy from AI Assistance

Skill atrophy, the gradual decline of human capability under AI assistance, poses a safety risk in shared-control of semi-autonomous systems, where operators may be unable to distinguish their own inputs from autonomous corrections. We propose Proximal State Nudging (PSN), a shared autonomy algorithm that jointly optimizes for skill development and task performance by nudging users toward states estimated to be most learnable. We first show that PSN outperforms existing shared autonomy baselines in balancing student improvement in unassisted reward with overall shared performance, using simulated students in the classic LunarLander environment. We then present, to the best of our knowledge, the first human subject studies of a planner incorporating learning-compatible shared autonomy: across two driving tasks in the CARLA simulator (High Performance Racing and Parallel Parking, n = 60), PSN produces up to 7x larger gains in unassisted skill than standard blended shared autonomy, while incurring 50% fewer collisions than unassisted self-practice.

Megha Srivastava, Jonathan Ouyang, Eric Zhou +6

Stanford University, Stanford, CA, USA. · University of California Los Angeles, Los Angeles, CA, USA. · Toyota Research Institute, Los Altos, CA, USA.

Human-in-the-Loop AI Shared Autonomy

May 19, 2026cs.AI

AutoResearchClaw: Self-Reinforcing Autonomous Research with Human-AI Collaboration

Automating scientific discovery requires more than generating papers from ideas. Real research is iterative: hypotheses are challenged from multiple perspectives, experiments fail and inform the next attempt, and lessons accumulate across cycles. Existing autonomous research systems often model this process as a linear pipeline: they rely on single-agent reasoning, stop when execution fails, and do not carry experience across runs. We present AutoResearchClaw, a multi-agent autonomous research pipeline built on five mechanisms: structured multi-agent debate for hypothesis generation and result analysis, a self-healing executor with a \textsc{Pivot}/\textsc{Refine} decision loop that transforms failures into information, verifiable result reporting that prevents fabricated numbers and hallucinated citations, human-in-the-loop collaboration with seven intervention modes spanning full autonomy to step-by-step oversight, and cross-run evolution that converts past mistakes into future safeguards. On ARC-Bench, a 25-topic experiment-stage benchmark, AutoResearchClaw outperforms AI Scientist v2 by 54.7%. A human-in-the-loop ablation across seven intervention modes reveals that precise, targeted collaboration at high-leverage decision points consistently outperforms both full autonomy and exhaustive step-by-step oversight. We position AutoResearchClaw as a research amplifier that augments rather than replaces human scientific judgment. Code is available at https://github.com/aiming-lab/AutoResearchClaw.

Jiaqi Liu, Shi Qiu, Mairui Li +33

UNC · Rutgers University · UC Santa Cruz +8

Human-in-the-Loop AI Autonomous Scientific Discovery Self-Improving Agents Multi-Agent Reasoning Autonomous Research Agents