We've had the Chinese dreame with valetudo (so fully disconnected from the cloud), it works honestly very well. Doesn't get stuck, avoids my son's toys rather effectively and just works. I run it when we leave home. There's honestly no reason why roomba didn't make something equivalent to the dreame, they could have competed with the Chinese manufacturers on feature and by allowing users to easily disconnect from the cloud. They didn't because the company was completely mismanaged and their products barely evolved.