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It's new, so there's less accumulated information, but the PX150, PX350, and PX850 have been quite the hot topic on the forum lately. The action on these three is all the same, but it is a brand new action. There have been various opinions on them, but I think it's fair to say that the consensus is that it's a step up from the previous models.
Having said that, all these Casios are still lowish end pianos by forum standards. They compete very well with introductory models from the big three (Roland, Yamaha, Kawai). Maybe compare the Casio PX850 to the lower Yamaha arius models like the YDP161.
All these Casio models seem to have lots of impressive tech specs for the price, but we often find people preferring Yamahas on a subjective level. For example, I have seen several people prefer the low end Yamaha P105 to the Casio PX150. So tech specs aren't everything.
I don't own a PX-850 but got to play one last Friday and I must say they have come on leaps and bounds since the original PX-800. The major criticism I had with it's predecessors was the "wobbly black key" issue but they seem to have resolved that now. Comparing the PX-850 with other DPs at double it's price in the store I'd have to think of a really good excuse not to buy it at the £799 it was on sale for.
I just bought a casio px 850 last week and am thoroughly enjoying it. I was deciding between a yamaha ydp 181 and the Casio px 850. I thought the action and sound were comparable between the two instruments. I ultimately went with the 850 due mainly to price.
If the cabinet is important to you, I think Yamaha has the edge. The ydp 181 also has a small lcd screen which makes adjusting features much easier. My px 850 did not come with a bench (the 181 did), so consider that in pricing as well.
If you are looking in the mid-range, I would definitely give the px 850 a look.