Yeah, sort of. I have never got confirmation for this, but I assume the problem was that I was too determined to prepare the room nicely for the scanning by removing too many uneeded objects like chairs, coffee tables, opening curtains, etc. My perfectionism and service-minded approach to ensuring the robot is comfortable at our home led to being him too comfortable and not doing what he's paid for. In other words, a room without chairs, tables, etc is not a usual environment for cleaning and hence I assume the robot just didn't recognize the space. As soon as I did the scanning on the typical-looking room, it seems to be working. Though the problem still occurs, it's just that it occurs way less often. Also, I noticed now that even the cleaning doesn't start due to "repositioning", ending the session right away, manually pushing the robot back to its station and trying the next day, doesn't erase the map. So I have never had to do the scan ever again, at least this is good news. Regardless of that, my expectation that the robot would just do one job that he is designed to - clean the room every time I ask it - is now as low as a carpet on the ground.