no matter how many times the floor layout is retrained or the base station is moved to different locations, it consistently skips huge areas of rooms or gets lost and can't return home. it seems to find invisible walls in the middle of bare floors. sent it in for service and was told nothing was wrong. have had for almost a year now. customer service was less than helpful. also, other than having a constant service charge and maybe being slightly better at not spreading dust when you remove it, what is the point of having bags in the base station in 2022?