[aasasd]

I don't know your particular setup, of course—but personally I quickly stopped worrying that the floor is occupied by something—unless it's small enough to be gobbled by the vac. The reason being, even if it's there today, I'll probably move it tomorrow or in a few days, and the robot will clean the spot after that. I guess someone could even split out a corner for toys with those infrared divisors, and occasionally let the robot loose in there manually.

Might be an application for more advanced computer vision in vacuums—to figure out which things are not to be sucked up. Though it smells of generic AI.