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If they keep wandering, either the item is not accessible (like in a hole or under a low passage, blocked behind another item, etc...) or the a.i. is too busy to notice it.
You can pause the game and wait for tasks to be assigned to people. Things that are far away takes more time to be assigned cause it is simple harder to compute too.
If all else fail, (save and) restart, this should clear them all.