According to the USCIS Visitor Policy, "to limit the number of people in the waiting room, applicants with scheduled appointments may only be accompanied by:
-An interpreter (if permitted under specific guidance regarding interpreters for affirmative asylum interviews);
-A parent, legal guardian or a trusted adult, if the applicant being interviewed is a minor;
-Immediate family members listed as dependents on the application or interview notice; and
-An individual assisting a disabled person.
*In the past, bringing a child was discouraged but not disallowed. However, during the pandemic it is more likely USCIS will strongly enforce the above restrictions on who may be present at the interview.