Doesn't get under most of my furniture due to lidar sensor on top. I needed a sleek robot and knew this brand before and was happy with my vacuum cleaner. I'm glad I bought it, it's very quiet and falls through everywhere, and it's better at avoiding obstacles than my expensive smart robot vacuum. Watch the video, it changes the path without touching obstacles, which is necessary to protect your furniture and the robot. If you don't clean room by room, you don't need a vacuum cleaner that maps and cleans the room. That's more than enough, and it goes to every point of your home.