I live in an apartment so I've yet to really see the reach of this thing's lidar. It maps the room almost immediately though, then cleans by first lapping the p

I live in an apartment so I've yet to really see the reach of this thing's lidar. It maps the room almost immediately though, then cleans by first lapping the perimeter of an area then does laps to cover the inside of the perimeter like someone mowing grass. The map is cached from the last full cleaning, so if I wanted it to do some spot cleaning I can define an arbitrary rectangle and specify how many passes I want over that spot (one is always enough, the second pass never picks up anything else). I can also control it manually but the controls have some latency from the app. I love this thing, it fills its chamber entirely with cat hair that I wouldn't even see until sending it out. It also tracks maintenance and tells me when sensors or the filter needs cleaning, or if parts like brushes need replacing (haven't needed one yet).