Valetudo

Valetudo replaces the cloud and the vendor app your robot vacuum normally needs with a local only web interface, reachable from a phone, tablet or computer, with no account and nothing leaving your home network. It is not a custom firmware: it runs inside the firmware the robot already has.

After the robot is rooted, Valetudo runs on the robot itself and talks the same internal commands the vendor's own firmware would, then exposes those commands through its own web interface, a REST API with built in Swagger documentation, and MQTT, so a smart home system like Home Assistant can control the robot the way it would through the vendor's cloud.