An automated cleaning machine includes a trained cleaning outcome classifier that automatically classifies or scores cleaning outcomes for a cleaning machine using machine learning techniques. The cleaning outcome classifier may be trained on training data comprising a plurality of training inputs and a known output for each of the plurality of training inputs. Each of the plurality of training inputs may include one or more cleaning process parameters corresponding to a cleaning process executed by a cleaning machine executed during a training phase. The known output for each training input may include a cleaning outcome classification or score. The cleaning outcome of a novel cleaning process may then be classified or scored with the trained cleaning outcome classifier based on one or more cleaning process parameters corresponding to the novel cleaning process.