In most cases, he recognizes objects correctly, and also, if he doesn’t recognize them, he still sees them, and doesn’t hit them with a bumper, but at most he feels them very gently. Some cabinets have floor-to-ceiling mirrors, I decided not to seal them with adhesive tape, so the vacuum cleaner sees an imaginary space behind the mirrors, but it does not beat in them, and works out the cabinets like walls. Quiet (but I have nothing to compare with, this is my first RP), but it cleans thoroughly, I found a lot of dust after careful manual cleaning with mopping.