The mapping and general environmental awareness is definitely wanting improvement. I really hope there are firmware updates that come out. It has a challenging time finding the dock and I've had to pick it up a couple times to bring it back. Also, the roller brush, it does a great job avoiding hair getting wrapped around it except for the very center of it. While those things are large areas for improvement, this is a great purchase. I do really like the robot. It does clean very well. it's gotten debris in places we have totally missed. It's an appropriate volume to use while watching TV. It is thorough and seems to get everywhere.The self emptying feature is amazing. Overall I'm happy with my purchase.