Roborock S5 not moving

Roborock S5 not moving

So, my Roborock S5 has been having a lot of faults recently, which I have solved, but this one I can't figure out. The robot either moves back and forth very vigorously, or it just slowly approaches then moves backward on a spot on my area rug. Nothing jammed, no obstruction on the map.

Please help!

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