Don't understand all the bad reviews been using my mop and S9+ and once it learned and created map it has been amazing love them both ya it needs to learn I ran in vacuum mode and in mapping mode and no issues. Yes they do take longer then vacuuming and mopping the old fashion way ( do it yourself) but that's why you bought them so you don't have to correct? Let them learn and do their job. Amazing product would buy again !!