Well they could always let pilots think for themselves, but many don't want to. I'm referring to what seems to be the RJ stopping short because of no ground personell available to accept the flight.
Also, sure, you may have every 'right' to be there, you also have all the responsibility (assuming they still let people use common sense) to advise ground you were unable to clear the taxiway, after all JFK is busy and based on the audio it seems the ground controller wasn't even able to see the collision and the RJ didn't advise him he was unable to clear.