did the humans win in the end?

Yes and without spoiling too much for you everybody got a happy ending apart from Lexi and Pope who didn't deserve one after his actions in the final season and before the show.

_____________________________

They say I'm gifted, uh huh
Well I'm a certified prodigy
I'm gonna own you, uh huh
I'm gonna bring you to your knees

I always tell you how smart you are
It's cause my brain is really supersized
You're an academic superstar
Just look at me

I'm a leader, I'm a winner, and I'm cleaner
'Cause I'm awesome
I don't need you 'cause I'm neato and I beat you
'Cause I'm awesome