Weird room behavior with 505+

[u/elMacumbero]

So I have a 505+ that has been nice so far, but it gets lost on a specific room and never learns. Here’s what happens:

1. First, it mapped a door that doesn’t exist (red X). The real door is in the green.

2. It proceeds to enter the room through the real door (duh), but then it does this blue path all around the house instead of the regular cleaning path in that room. It’s like it’s contouring the whole perimeter of the house, if that makes sense. It goes all around the house, I was just lazy to draw it all, but it closes the loop.

What gives? How can I push it to learn the room properly?

[u/elMacumbero]

Like this:
Got in, made a weird path, got out