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. Motor imagery brain-computer interfaces are promising neurotechnologies but limited by slow user learning and unstable decoder adaptation. Here, the authors develop a novel sensory-guided joint learning framework that coordinates subject learning and decoder adaptation to improve BCI acquisition.