SLAMMING into walls, corners, and items

I love this robot, but I’m struggling to understand why it randomly chooses to absolutely SLAM into a corner, a wall, or even chairs from time to time?!  It does so well and then will just decide it wants to be blind and run into something hard!

All settings to prevent this behavior are turned on, not in low light, and no reflective surfaces present.

Did you move the furniture? Remember, this is basically teaching a blind person your room. If you move anything, it screw them all up. Clean all the sensors with soft dry towel, especially on side andctop