I spotted that both robrocks (S7 and S7 MaxV) that I have been using are starting carpet cleaning with moving on the carpet edge (half on the carpet, half on the flor) counterclockwise. Because of that, side brus sweeps crumbs under the carpet.
I think that it might be improvement by changing the carpet algorithm. Vacuum should go around the carpet, outside of the edge, on the flor, clockwise. It will sweep crumbs from the carpet edge to the main brush. After that, the carpet should be cleaned without moving half on the carpet, half on the flor.
It seems to be easy to fix. What do you think?