@Mark21287 

When the robot vacuum is operating, it continuously scans the environment in real-time. As long as the area is open and accessible, the vacuum will go there to clean, even if that area was previously marked as an obstacle on the map.

• Please try wiping the vacuum's sensors and check for any obstacles blocking its path. How to clean the sensors of my Robot Vacuum
• Check if there are any virtual walls or no-go zones set on the map for that area.

Tapo RV20's map supports adding furniture. Once furniture is added, you can click on it in the map to initiate room or zone cleaning for that area. By default, the vacuum will clean underneath the furniture unless the height of the space does not allow it to fit.