I have had the original DI2 on my bike for 18 months. It is impressive stuff. The quickness and ease of shifting is simply unmatched. Shift under any load, in any conditions, and it will shift. The Front derailleur auto-trims so the chain never rubs the cage. The Rear derailleur actually overshifts slightly then return to the center of the cog. That gets the chain to engage more quickly. It is a noticeable difference. The hoods and levers are the most comfortable I have ever ridden. The brakes are impressively strong. In 18 months, I have not had to make an adjustment to the drivetrain. I charge the battery whenever it comes to mind. I replace the chain. Nothing else has been touched.
I have not been able to ride an Ultegra DI2 bike. As Jdog points out, they made nothing but improvements.
I was fondling some Ultegra parts recently and closely comparing them to parts on my bike. The motors on the Ultegra derailleurs are larger and more bulbous. The wires are thinner and easier to hide. The hood and lever look identical.
I was told that the Ultegra DI2 does not allow the use of remote shifters. Not a huge deal but it's one advantage that Dura Ace has.
There are plenty of SRAM lovers. I admit I am not one of them. For the money, SRAM offers solid stuff. When money is removed from the decision making. DI2 blows the other brands away.