This is a great product! I've never had a roomba before, and I'm quite impressed. Norbert did have trouble learning the layout of my apartment at first. But I deleted that smart map, started again, and within 3 cleaning runs he had learned my apartment. It cleans relatively well and can get corners very well. Sometimes he gets confused when my furniture moves around, but within a few minutes he has generally figured it out. My only complaint is that it can get pretty noisy and he can't fit under all of my furniture. That being said, it's not a big deal if I have to move the couch to sweep under it once in a while. Would definitely recommend!