This thing is a working tiger. The navigation system is awesome. It will slowly and gently feel its way around the room then quickly fill in the middle perfectly and methodically.We were thrilled with how it did floors. Even around rugs. One time after it mopped our kitchen I did a follow up mop job and the pad came up clean.You can’t underestimate it. If it misses a spot it will turn later and go get it. When it completes a room it will turn and drive itself right through the doorway to the next room.The dust bin has good capacity but I just felt compelled to empty it frequently because I wanted the filter clean always. The filter screen brushes off easily. Hair picks off the brushroll easily and they give a small razor in the cleaning tool to cut it which makes it super easy to remove.You have the dust bin, clean water reservoir, and the dirty water tank. We added vinegar (and water) to the clean tank but the instructions do not address soap. They give you a brush to clean the dirty tank but rinsing with hot water, in the top and in the slot on the bottom too, seemed to clean it well.Why past tense? We returned. For two reasons: the App is a little punchy in that you can’t save a room when it’s done. Unless that is the only room. It will not “save” a map until all tasks are completed. So if it is bumped or loses signal or is picked up for some reason bammo, all maps deleted. So naming rooms and sending it to do one particular room is not an option if you don’t have a map saved. All things equal, it will leave a nice map and then drive itself through the whole house to the recharge base. After four cleanings our house proved to be too difficult and the mapping was lost somehow. We thought the battery life was outstanding. Easily cleaning the entire house on one charge. (1600 sq. feet)The other reason for return is in our particular house so many things had to be moved and put up it just wasn’t worth it. (Two dogs, disabled equipment, carts…)This was our first one. It was impressive to watch. But you need to know that ‘mapping’ does not help it navigate on future cleanings. It will prevent it from getting lost but it will still bump around (very gently with sensors) and repeat its routine map or no map.Five stars because this is a bargain machine. You have to do your own maintenance but it is great. It cleaned out carpets and floors well.Looking for better: get your wallet out. These machines have two kinds of nav.; radar and light through cameras. The radar (Tecbot) is the better of the two. But the best ones are the ones that combine both. For them you will pass 1,000 dollars at a dead run.This thing will win your heart if you give it a chance.