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Where Should I Join? Robot Group Joining via Language-Guided Goal Prediction

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

Social navigation typically assumes a specified goal and focuses on reaching it while respecting social conventions, whereas robot group joining requires predicting where to join based on the group's real-time activity and formation. This is a highly semantic task, yet an important capability for applications such as robotic guide dogs and autonomous mobility scooters. We formulate language-grounded robot group joining: given an observation and a natural-language description of a target group, the robot identifies the relevant group members and predicts socially compliant joining poses. For gr

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