Effective human-AI collaboration hinges on the ability to dynamically integrate the complementary strengths of human experts and AI models across diverse decision contexts. Context-aware weighted combination of human and AI outputs is a promising technique, which involves the optimization of combination weights based on capabilities of decision agents on a given task. However, existing approaches treat humans and AI as isolated entities, lacking a unified representation to model the heterogeneous capabilities of multiple decision agents. To address this gap, we propose a novel capability-aware architecture that models both human and AI decision-makers using learnable capability vectors. These vectors encode task-relevant competencies in a shared latent space and are used by a transformer-based weight generation module to produce instance-specific aggregation weights. Our framework supports flexible integration of confidence scores or one-hot decisions from a variable number of agents. We further introduce a learning-free baseline using optimized global weights for human-AI collaboration. Extensive experiments on image classification and hate speech detection tasks demonstrate that our approach outperforms state-of-the-art methods under various collaboration settings with both simulated and real human labels. The results highlight the robustness, scalability, and superior accuracy of our method, underscoring its potential for real-world applications.

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