It depends, do you want to learn or do you want to get something fast and don't care how?

If you want to learn don't let AI write anything. Ask it questions if you don't understand, ask it to explain, but wrte everything yourself.

If you want to get something that works and don't care how, make extensive tests. Use a minimum test coverage. Automaric AI reviewing the PR of the AI, And keep the agent going until it passes the CI.

To awnser your question specifically read the plans very carefully. Most of the time the agents execute the plan fairly faithfully, you don't need to correct the code much if you make sure to read the initial plan very carefully and make changes on where it made a mistake.

This does build on the fact that you can actually understand what its writing, if you can't, go with the first approach and don't use AI at all for writing code.