In my experience, the carpet is recognised. In addition, there is the option in the iRobot app to divide the flat into several rooms or sub-rooms. It should also be possible to define "no-go zones" that the iRobot then leaves alone.

You can set up a so-called "protection zone" and then he leaves that area out.

We have a dog and a cat and I have to say it depends on the floor. Of course there are paw prints when the animals walk over it when it is wet. But it's also the same when you mop the floor by hand.
In our old flat we had a shiny floor, so you could always see everything again. Now we have a matt floor with a pattern. It's less noticeable. I can recommend it.