It'll never be as good as a human scrubbing, but for day to day touch ups it doesn't really have to be. I have the Roborock S7 maxV with the ultra dock and the mop actuator moves the pad back and forth with a travel distance of almost a centimeter, so it's not just dragging the mop but actually moving it left and right really fast. I use the deep clean mop setting which makes the bot move extra slow to get in extra scrubs as well as makes overlapping mopping passes which seem to be like 75% overlapping on each pass, as well as the 3x setting which does a criss cross pattern with multiple runs. It's good enough to mop off wet cat food which has dried which is good enough for me, that normally takes me a bit of manual scrubbing but the multiple criss crossing runs with overlapping passes probably gives the stuck on bits time to soften and come off.