Abstract
Social robot navigation (SRN) requires more than geometric path planning; it demands understanding human intentions, social norms, and contextual cues to generate socially compliant behaviors. Although classical navigation methods provide reliable metric planning and collision avoidance, they often lack the semantic reasoning capabilities necessary for operation in complex human-centered environments. Recent advances in Vision-Language Models (VLMs) have opened new opportunities for SRN by enabling high-level VLM understanding, commonsense reasoning, and natural language interaction. However, a fundamental challenge remains: how to integrate VLMs into real-time, safety-critical navigation systems and reliably translate their high-level reasoning into grounded navigation actions. In this survey, we present a unified perspective of VLM-based SRN and organize existing approaches into three interconnected components: high-level VLM reasoning, low-level planning and control, and intermediate mechanisms that bridge reasoning and action. Based on this perspective, we propose a structured roadmap for coupling VLMs with navigation systems, covering semantic reasoning, evaluators, spatial grounding, intermediate representations, and control modules. The roadmap highlights both the strengths of VLMs and the necessity of hybrid architectures for practical deployment. We further review representative datasets and evaluation platforms developed for SRN. Finally, we discuss key open challenges. This survey aims to provide a foundation for building reliable, socially compliant, and deployable VLM-enabled navigation systems.
Abstract (translated)
URL
https://arxiv.org/abs/2606.28760
