I love this roomba. This roomba does a great job vacuuming, even better than my old roomba. I have a dog with long hair and my old roomba (designed for dogs) struggled on the carpet and just clumped the hair up in piles for me to pick up later. This roomba does not have that problem. I love that it empties itself as this was an issue with my old roomba and I could never get the entire house done with one scheduling. The only reason I'm giving this 4-stars instead of 5-stars is it would not learn my whole house. It would say it was finished but missed an entire hallway and 2-bedrooms, granted I do have a large floorplate.