on the form itself, use the "email group - subscribe/unsubscribe" processing step and make it conditional and then choose the form field corresponding to the group and have it set to equal to "1" (if it is eloqua hosted landing page i would try qual to "on" as well) . then if someone checks that box on the form and submits it, they will be subscribed to that group.. repeat this for other groups and also repeat for all to account for unsubscription to those groups as well.
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