That's mainly what the built-in "AI camera" feature is for. Technically I don't need it - I don't have pets, I don't leave stuff lying around on the floor, and I usually make it to the toilet on time.

I am curious though if I can model a dog turd out of something and have the robot recognize it properly....

Now you could probably attach a raspberry pi with a camera and a coral tpu to a cheaper robot, spend a week trying to get the TPU to work with its dependency hell (or use one of those cameras with object detection built in), and then probably not have much more control other than to pause the robot just in time. That might end up costing more than just to upgrade to a robot with poop detection that can automatically circumnavigate them.