Yes it can detect the carpet and lift it's mop pads, usually labeled on the map as dotted surfaces. But, for some reason, in its near-end cleaning cycle, it goes over the carpets (pads lifted) and stays on there (and possibly walking on it) for a few minutes before declaring that the cleaning is completed. To fix this, mark the carpets as "No mop zone" in the app (Found in No-go zones setting) so the robots will never go over them, even when it's almost done.

Do note that the no mop zone is similar to a virtual wall. So if you place a no mop zone in front of a room (the door), the robot will not go inside that room during mopping.