Robots like this will have a small market until they can handle obstacles. The cat toy that the cat left in the middle of the floor, the papers that an open window blew off the table, the toys the kids left scattered about, the pencil that rolled off the desk while you were away, the dirty laundry you left laying on the floor, the ridge between carpet and hardwood floors, doors left open or closed, and more. That means there may be several tasks that intervene before a primary task can accomplished (move the toys, pick up the papers, pick up the laundry, open the door). Some obstacles will semi-permanently block a wheeled robot, such as cables, things stacked that you don't want moved, furniture, a sleeping pet, stacked unopened packages from the mail, etc. I believe this means general purpose home robots can not have wheels, they must have legs, perhaps more than two legs for stability. It may sound weird but I think the ideal design might be somewhere between a large friendly spider and a dog. It's odd how robotics has mostly fallen into this idea that the world is two dimensional and flat. They've idealized away the really difficult problems of dealing with mobility in a 3D world. Note that everything this robot does involves only planar horizontal surfaces. Basically it looks like a person had to go through the rooms and clean them up for the robot to function. Roomba's have the same problem.