Function:
This little guy works great as long as he doesn't get stuck. Once he gets stuck, its will not stop trying to get unstuck and will potentially damage itself. 
The self empty feature is worth the extra cost.
Wants/ Needs improvment
there should have been a camera installed on this too. The lidar does great finding walls, but not so great with object avoidance.

The smarthings app is buggy, after so many years samsung still hasn't quite gotten it right.