Cleaning good. Mapping, when it works, sends robot to room. Never did get it to find some smaller rooms, thinks door to one is in wrong place, no way to correct. Learning mode far slower than cleaning mode. Took many hours to get it to actually produce a map and SAVE! Auto-empty great feature. APP functions like an early beta version on Android. Lack of option to use a dedicated remote control, that actually works, is downside.