Tonight I made the AI more door-aware. At this point we don't have locked doors, and haven't fleshed out how the AI will deal with locked doors, so I made the AI give the 'open' command to any closed or closing doors nearby when the AI's desired velocity wants to pierce the door in the next 1.5 seconds. This makes the doors open as the AI approaches, much like the player can do by hitting the space bar, but doesn't make the doors open like an automatic door at the supermarket if the AI is just walking parallel to the door.
I also made the AI unable to see through doors, so now the AI won't be alerted if you are hiding behind a closed door. Once the AI sees you, however, it's impossible to avoid, since it can now open doors to get after you.
Here is a shot of two door types in action :