This vacuum does an excellent job cleaning. It knows exactly where it is going while vacuuming and picks up dirt excellently. The only problem is the self empty feature always fails and reports a code 9 ( waste bin not emptying). We have 2 cats and run the vacuum every other day. I wind up having to manually empty vacuums waste bin as cat hair bunches up and clogs any dirt transfer. Will recommend to any household without pets, cautiously to households with pets.