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This really works best if you don't have a lot of clutter around, and don't mind picking up small throw rugs before turning it on. I start Roomba and leave the house. When I get back it's back recharging. I find its better to clean out the filter after (or before) every Roomba run. It's pretty easy, just open the door and the dust falls out.
When I first got Roomba I had to clean the brushes more often, but once you get your house initially clean, and if you run it often, you only have to clean the brushes every now and again.