Hypothetical: you might be able to train it based on what is clean rather than what is dirt, i.e. rather than model all the different kinds of dirt - perhaps model what different ok spaces would look like, like the intersection of two skirting boards or the underside of a couch etc. It would also be possible for the vac to learn the most efficient approach vacuuming a particular room layout and perhaps remembering where it finished up if interrupted. Just stupid idle thoughts..
Aliso Viego we have a problem., page-12
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