I also have a Roomba from around 2019 and it feels kind of like a finished product. I’m not that interested in mopping. Never connected it to the internet. I push the button every few days and empty the trash compartment when it requests to do so. Once a year I give it a thorough clean. Not sure how any device could do better.

For your application they are perfect. Elsewhere they are still much much slower than a human while they could be much much faster.

The floor plan needs to be hard coded. When a new house or office is wired gadgets can be embedded in the walls, floor, doors to get the positioning system accurate to the mm. Movable chairs can also get a bit of electronics, not sure if it even needs power. Larger objects that are moved less frequently can be positioned on its map manually.

It needs an idea how delicate or robust objects are so that it can move extra slow or extra fast.

It needs to know if the bottom of the wall is cleanable and do so.

It should know when to clean then if no one is there race up and down the hallway. If the bottom of the walls and/or doors are cleanable it should know to move faster.

In some industrial applications there should be rails on the wall or floor and possibly rubbers for it to drive into if the floor is slippery.

A combination of large and small cleaning robots would be more effective.

Even if you don’t want mopping, the pathing and speed at which it actually cleans a house vs the ones with LIDAR are comically different. It also has trouble getting itself out of small crevices or tight spaces vs the competition. I know, cause I constantly fought these issues. That’s not even counting for how it will get itself stuck on any cord, toy, etc laying on the ground.