Baked Shadows Issues (Probably a Unity Bug)

I baked the shadows for a scene. Generally, it seemed correct, except that there was light at the edge of some objects. I made a simple test project to understand the problem and here is what I discovered. I posted detailed screenshots below to illustrate the problems. The Unity version used for the test is 5.6.

The scene consist of one camera, one floor, two cubes and a point light. I did the test with the defaults parameters and also several variations. I also noted when I activate the “Final Gather” option, the problem is worse.

Generally speaking, there are lit areas in the lightmap where there should be shadows (inside the objects). Furthermore, I can see that the cubes are lit under the floor even if there is no light reaching that area.

The result with “Final Gather” off.

The result with “Final Gather” on.

The result with “Final Gather” off with the cubes removed manually after the baking with the purpose of exposing the lightmap under the cubes.

The result with “Final Gather” on with the cubes removed manually after the baking with the purpose of exposing the lightmap under the cubes.

I also found the diffuse light on the dark side of the cubes to be too bright. That is probably not a bug, but more an adjustment to calculate the right amount of bounced indirect light on the surface.

[To the Unity team]: Since I started using Unity (version 4.3), the shadows have always been a huge issue. I suggest that you spend more time on it. It does not seem better today in the overall with all the complexity and problems.

Does anyone have an idea of the problem or it is just Unity still not being mature enough to handle lightmapping properly or a bug?

Here are some more screenshot with more information about the test.

The lightmap with “Final Gather” off.

The lightmap with “Final Gather” on.

The parameters.