Tried out a dolphin 20 from a local pool
Store and it was very underwhelming. Did not pick up all of the very fine dirt and leaves in my pool.
I ended up getting a sigma myself and it has done a great job getting my pool cleaner than I had thought was possible. Personally found the cartridge filters a bit smaller than I had thought they were but they have never had any problems picking up everything in my pool. I have a lot of natural stone around my pool that causes very fine sand to get into the pool and the sigma catches all of it. I mainly use the ultra-fine filters and they take all of 3 minutes to pull out and clean with a hose. Bluetooth is what you expect, the closer to the supply the better but it has been pretty nice to control the robot and get the occasional spot it misses(my pool is pretty curved all around and has a 15% curved parts on 2 two sides of the pool where the attached spa meets the pool wall). Overall couldn’t be more pleased with its performance.