RS1 is an amazing speaker for the price... have not auditioned the RS3. RS1 works very well with Mira3, should work fine with Brio. RS1 really does need a sub however.
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I juSt got a pair of RS5 yesterday. They must have about 30-40 hours of play time at low volume.
I have not spend time listening much music yet, but watched a blu-ray last night.
Very nice sounding: clear, detailed, reasonably clean low bass. They are somewhat forward and dry sounding, but not too agressively. Very dynamic. I will test the bass output sometimes tonight. I have noticed that there's not much upper bass. I do not know if they were voiced that way or if it is how they are positioned in the room.
But so far, I can tell that they detail very well, somehow takes you inside the recording. Acoustic instruments sound really nice. I have heard for the first time, or paid more attention to, details in recordings that I had not perceived before.
I drive them with a marantz pm8004. I'll come back and leave my impressions if interested, especially on the bass upper bass.