We exclusively run ours when someone is home. It often gets stuck in certain areas and near specific furniture. We try to prevent it as much as we can but we just don't trust it enough to let it run without a little supervision.

Edit: I am not looking for solutions. Running the roomba when we are home works fine for us and we do not intend to change the way we live or get a more expensive roomba to accommodate it. This is a perfectly fine workaround that suits our situation well. I only made this comment to point out that not everyone runs the roomba when the house is empty.