AI can't jump down from heights

Help and Feedback Scripting Support
#1

I am trying to make an enemy AI with SimplePath, but the AI keeps getting stuck on a table and figure out how to move off of it. I included my code below. When the bot gets stuck it constantly resets its waypoint and tries to find a new one because it is stuck and can’t figure out how to walk off the table. Help appreciated, thanks.

-- Path:Run(desintaion) is how you move the bot with the SimplePath module.
local function walkToWaypoint() -- function to walk to a random destination throughout the map
	Path:Run(waypoint)
	
	local function resetWaypoint()
		firstIteration = true
		waypoint = workspace.aiWaypoints:GetChildren()[math.random(#workspace.aiWaypoints:GetChildren())]
	end
	
	if firstIteration == true then
		firstIteration = false
		Path.Reached:Connect(function()
			resetWaypoint()
		end)
		Path.Blocked:Connect(function()
			resetWaypoint()
		end)
		Path.Error:Connect(function()
			resetWaypoint()
		end)
	end
end

if target then
	target = target - Vector3.new(0, 4, 0)
	local distance = (ai.HumanoidRootPart.Position - target)
	local lookVector = ai.HumanoidRootPart.CFrame.LookVector
	local raycastResult = workspace:Raycast(ai.HumanoidRootPart.Position, target - ai.HumanoidRootPart.Position,raycastParams)

	visualizeRaycast(raycastResult)
	if raycastResult then -- increase raycast radius to fix
		if raycastResult.Instance.Parent == player.Character then
			ai.Humanoid:MoveTo(target)
			task.wait()
		elseif player.Character.Crouching.IsCrouching.Value == false then
			Path:Run(target)
		else
			walkToWaypoint()
		end	
	elseif player.Character.Crouching.IsCrouching.Value == false then
		Path:Run(target)
	else
		walkToWaypoint()
	end
else
	walkToWaypoint()
end