Any feline owner will tell you that cats are pretty close to perfect. The only thing that would actually make them perfect is if they could scoop their own litter box. While that’s never going to happen (they wouldn’t agree to do it even if they could), there is a solution: automatic litter boxes that clean themselves. The best self-cleaning litter boxes, such as our top pick the Litter-Robot 4, sense when your cat has gone to the bathroom, and then respond by raking, sifting and/or flushing the waste away so you don’t have to scoop anything yourself.

Thanks to its reliability, quiet operation and app integration, the Litter-Robot 4 is the best ... [+] self-cleaning litter box overall.

Seem too good to be true? If you pick the right one, it’s not. But there are many automatic litter boxes out there that don’t live up to their claims. To narrow down the options, I used my own personal experience—I have three cats and have owned many self-cleaning litter boxes myself—and dug into customer reviews. I eliminated any litter boxes that don’t perform as expected to narrow it down to the best self-cleaning litter boxes that actually work.

Footprint: 22 x 27 x 29.5 inches | Weight: 24 pounds | Power source: Electric

If you’ve done any research into self-cleaning litter boxes, you already know the Litter-Robot is the most highly recommended, but the price tag may give you some pause. I’m here to tell you it’s worth every penny. If you want a top-of-the-line smart machine, there’s no comparison. I own both the Litter-Robot 3 and the Litter-Robot 4 and while you can’t go wrong with either, the newest version is the better choice for several reasons.

This newly redesigned automatic litter box has a wider opening and integrated cat sensors that can better detect when your cat is using the box. After your cat exits the Litter-Robot 4, the globe fully rotates sifting both solid and liquid waste into a separate waste drawer. It also has a larger waste drawer and better odor control—there’s an odor lock system right above the drawer—than its predecessor, so you don’t have to empty it as often. With three cats, I need to change the bag out twice per week. It connects to a free app that monitors litter and waste levels, and will send you notifications when the drawer needs emptying.

The only thing I don’t love about the Litter-Robot 4 is its size. As far as litter boxes go, it’s not inconspicuous at all. If you have the extra space (and the extra budget), the Coastal Credenza is a great way to hide it. It’s actually a decent looking piece of furniture and it has all the proper electrical outlet holes and USB ports to make hooking up the Litter-Robot very straightforward.

Footprint: 19.1 x 27.6 x 16 inches (with hood) | Weight: 20.3 pounds | Power source: Electric

Self-cleaning litter boxes that actually work aren’t cheap. While there are less expensive models available, the ScoopFree Covered Automatic Litter Box is the best value due to its relatively budget-friendly price and high rate of customer satisfaction. This automatic litter box relies on a rake system that moves waste into a separate compartment. When the compartment is full, you grab the bag, toss it out and replace it with a fresh one.

It’s worth noting that you have to use crystal litter with this box. While that does limit your options, the upside is that it’s better at odor control and absorbing urine than some of the other types of litter. You can use your own crystal litter with plastic tray liners, or opt for the ScoopFree disposable trays instead. These trays come pre-filled with litter and when the current tray needs to be replaced, you simply swap it out with a new, ready-to-go tray.

This litter box doesn’t have the same advanced smart features as some of the others, but it does have a safety sensor and you can set a timer to start cleaning 5, 10 or 20 minutes after it registers that your cat has left the box. It also has a health counter that tells you how many times Kitty has used the box so you can keep track of changes in behavior.

Footprint: 19.3 x 17.5 x 21 inches | Weight: 35 pounds | Power source: Electric and cold water line

If you want a completely hands-off solution, the CatGenie Automatic Litter Box is the choice for you. This self-cleaning litter box not only scoops for you, it also flushes waste and cleans itself. Instead of regular litter, the CatGenie uses washable granules that never need changing. When your cat goes number one, the liquid drains through the granules and gets flushed through your plumbing. Solid waste gets scooped, liquified and then flushed. After waste is removed, the CatGenie starts a clean cycle that washes the granules and then hot air dries the entire basin so the potty is fresh for kitty’s next trip to the bathroom.

It does require an actual installation—you hook it up to the cold water line of your washing machine, sink or toilet—but the company says it only takes 15 minutes and hiring a plumber isn’t necessary. And the perk is that you never have to change out trash bags full of litter and waste.

Like other smart litter boxes, the CatGenie is fully programmable. You can set cleaning timers, sleep timers and cleaning delays. You can also hook it up to a free app to check cleaning status and track how many times per day your cat is using it. And the CatGenie will alert you if something seems off with your cat’s bathroom habits that might require a vet visit.