I bought this unit since I already had the S1. I have used it for 3 weeks now and have had to update the mapping of my house 3 times now. Had to erase it and remap. The software forgets where it is and overlaps previous version of the map with a new version with a different setpoint. Then the device just wanders arround with no pattern. Not a good product.
Frank has been fantastic so far. The vacuuming is strong, the roller mop actually cleans instead of just dragging a wet pad around, and the obstacle avoidance has been excellent in a real lived-in house with rugs, furniture, cords, and dog hair. The self-emptying, mop washing, drying, and water management make it feel genuinely automated instead of like another appliance we constantly have to babysit.