Sorry I have no IDM expertise. My work is in practical learning and teaching: see ‘Inside Teaching: How to Make a Difference for Every Learner and Teacher’ (Routledge, 2017). Chapters 7 and 9 might relate tangentially and pragmatically to your interest.
This is an interesting question and as any interesting question, there is no straightforward answer to it. The ID models that may fit (partially) are many and may range from the "canonical" instructional systems design ADDIE model (needs analysis, design, development, implementation, evaluation) to include rapid prototyping (AKA, rapid application development) and D3(data-driven development). The latter full advantage of data and machine learning. In 2017 van Merriënboer and Kirschner published a book on instructional design of training programs for complex learning which including courses, curricula, or environments(e.g. AI). This is the full citation: Van Merriënboer, J. J., & Kirschner, P. A. (2017). Ten steps to complex learning: A systematic approach to four-component instructional design. Routledge.
You may also find relevant the following summary of the empirical literature on the elements of effective design of computer-based interventions:
Mayer, R.E. (2008). Applying the science of learning: Evidence-based principles for the design of multimedia instruction. American psychologist, 63(8), p.760.
Kim, Y., & Baylor, A. L. (2016). Research-based design of pedagogical agent roles: A review, progress, and recommendations. International Journal of Artificial Intelligence in Education, 26(1), 160-169.