Vaccum cleaner not taking obstruction free path to dock

Docking station of Dreame L10 Prime is in room 3. To go to master bedroom, it passes via Living room which has Couch and Dining table. Couch has ground clearance higher than  robot's height due to which it can pass through underneath.

Everytime it's coming back to dock from other room, it touches legs of couch and then chair and then returns.

Instead I have indicated furniture in the map and it should avoid furniture totally when just going for dock or passing through that area. This is what we humans do.

In image: Red line indicates path it takes. It should take green path which is obstruction free.

Hi, robot will try to always take the shortest path first. As visible in your map, lidar has scanned that area underneath the sofa, hence it tries to cross that way.