So, while stone, rugs, and pressed dirt were used for flooring in castles, the top pick was hardwood.
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In medieval times, scullery maids would sometimes care for stone floors by sweeping up the rushes they used to mitigate unpleasant aromas before using harsh lye soap to scrub up dirt and grime. By the 19th Century, humanity had at least realized that some level of attention (and elbow grease) was necessary.
Castles weren't always cold and dark places to live.But, in reality, the great hall of castle had a large open hearth to provide heat and light (at least until the late 12th century) and later it had wall fireplace. The hall would also have had tapestries which would have insulated the room against too much cold.