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The integration of AI education into K-12 curricula is critical for fostering students’ AI literacy. To synthesize existing research, this study conducted a systematic review of 55 empirical studies on K-12 AI education. The findings indicated that the attention in this field is increasing, and the proportion of AI education conducted in formal educational environments has increased. Meanwhile, primary schools are the most studied stage and there are differences in sample size and intervention duration among research at different learning stage. Besides, this study revealed that the dominant dimensions of instructional intervention and AI literacy are “curriculum development” and “AI emotions and attitudes”. Additionally, this study summarized the suggestions from these empirical studies in terms of research and teaching.