You betcha! Not only does Hiro and Sam know when I am geting ready to go somewhere, they know the difference in the outfits and what they mean! Like bikini meaning play afternoon in the yard,or pj's during day for lazing aound, and how they know the difference between pj's and lounge type pants that I can wear in public (same material even), beats me! Sometimes I m sitting on the couch reading and just think to myself, I'm gonna go to Wal-Mart, then I get up off the couch (I could be going to the bathrom) but they know that I am going to leave..and all I did was stand up-hadn't even moved!