There’s always this fear of rejection that nags at you if you don’t intend to socialize, keeping you from interacting with the people in the same room you’re in unless there’s an ice breaker moderated by the person all of you are connected with(the instructor).
This shared relationship allows the invisible walls to slowly go down, some braving to smile at the other or even cheer when the occasion permits.
That’s only at the first encounter.
Give it another, and another, then another. Regular meetups, I’d say, like you do when enrolled in a class. Soon, the familiarity breeds comfort and confidence that interactions would come out naturally, like clarifying a resource material or a lecture schedule.