How is it not analogous to data leakage? The claim is that the system works autonomously, or at minimum could, but there is effectively signal via human in the loop feedback. That's leakage into test time evaluation. Also the coding analogy is malappropriated, in that the llm is using its own signals autonomously in the environment. Using a kalman filter on a ICBM with its own sensors is analogous to the coding agent and is autonomous. A system where a human is course correcting based on signals/sensor data is what's presented here, that is not autonomous.