overall the vacuum seems to work well and is much quieter than the vac it replaced and it's nice having the automatic debris removal. not sure if it picks up as much cat hair and dirt as the previous vac though. 
another main issue was that the vacuum is fairly tall and it kept getting stuck under the kitchen island. it got so stuck one morning i was shocked to see that it literally tore through a small section of my thick cushioned kitchen mat- see photo. i can't believe it didn't turn off but instead chewed through the mat. 
i ended up having to block out the section in front of the island on the map so that it wouldn't get stuck there any more.
pretty expensive mishap on top of the cost of the vacuum.