Anyone using a FOSS-friendly robot vacuum?

I'm considering buying a robot vacuum cleaner, but I'm not a fan of the idea that it would scan my apartment and send data to the cloud.

I came across the Valetudo project, and it looks promising. It doesn’t replace the firmware - just replaces the cloud connection with local automation systems instead. Has anyone here used it? Or are you using something else for local control? I'd love to hear your experience 🙂