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This systematic review synthesizes 51 empirical studies published between 2010 and 2024 to examine how artificial intelligence (AI) literacy is cultivated in computer science (CS) education. Guided by PRISMA for literature retrieval, the findings highlighted experiential learning, particularly project-based learning, educational robotics, and analogy-based pedagogy, as promising approaches over traditional instructional methods. Four pedagogical innovations emerged: embodied constructionist approaches that promote hands-on exploration, culturally responsive AI pedagogy that addresses diverse learner contexts, ethics-integrated technical instruction linking AI concepts to societal implications, and collaborative human-AI learning experiences that foster critical reflection. Together, these findings provide a landscape for reimagining CS education, preparing students not only to understand AI but to engage in responsible development and application of AI across educational settings.