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Samsung R9350 not cleaning an area rug

So I have the R9350 and live in a 2bedroom apartment.  I tried to use the floor plan thing but that is worthless.


Anyway, I have what you could call light beige color carpets in the apartment with a large area rug in the livingroom area.  This rug is 3 colors (beige, grey, and brown) with like a large paisley design.  For some reason the robot will not vacume over the brown spots, I think it thinks its a step or hole, or something.


Is there a way to teach the "smart robot" that it is not a step and to vacume the darn rug?