From Obstacles to Etiquette: Robot Social Navigation With VLM-Informed Path Selection

Abstract

Navigating socially in human environments requires more than satisfying geometric constraints, as collision-free paths may still interfere with ongoing activities or conflict with social norms. Addressing this challenge calls for analyzing interactions between agents and incorporating common-sense reasoning into planning. This paper presents a social robot navigation framework that integrates geometric planning with contextual social reasoning. The system first extracts obstacles and human dynamics to generate geometrically feasible candidate paths, then leverages a fine-tuned vision-language model (VLM) to evaluate these paths, informed by contextually grounded social expectations, selecting a socially optimized path for the controller. This task-specific VLM distills social reasoning from large foundation models into a smaller and efficient model, allowing the framework to perform real-time adaptation in diverse human-robot interaction contexts. Experiments in four social navigation contexts demonstrate that our method achieves the best overall performance with the lowest personal space violation duration, the minimal pedestrian-facing time, and no social zone intrusions. Project page: <uri xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">path-etiquette.github.io</uri>