Sensory-guided human-machine joint learning accelerates the acquisition of motor imagery brain computer interface control.

Brain-computer interfaces (BCIs) offer the potential to restore function and augment human capabilities. However, non-invasive electroencephalography (EEG)-based BCIs still face challenges in learning efficiency and control precision, particularly for naïve users performing complex tasks. Here, we present a sensory-guided joint learning framework that integrates human motor learning with adaptive machine learning to improve BCI training and performance. In 31 BCI-naïve participants, the framework enabled rapid skill acquisition, achieving average online discrete accuracies of 86.0% for one-dimensional (1D) and 77.5% for two-dimensional (2D) motor imagery tasks, along with continuous control accuracies of 77.5% (1D) and 66.9% (2D). Mechanistically, tactile guidance reduced user exploration and accelerated neural adaptation, while sample reweighting aligned decoder updates with human learning trajectories. By coupling reinforcement-driven neural plasticity with adaptive algorithmic optimization, this framework advances BCI training from passive calibration to active human-machine joint learning, enabling practical and scalable neural interfaces for communication and rehabilitation.