Human-in-the-loop can slow down the computer's loop.
It allows better control and judgment, and makes it less likely the system gets off track and into a doom loop.
But sometimes it's better for the human to be outside the loop.
A benefit of this: once you get it working, you get a lot of leverage.
For this to work and be safe, the inner loop has to be isolated from the real world, its own universe.
For example, some of Amazon's warehouses are designed for robots, not humans.
Although any system, even "airgapped" ones, there's some information leakage.