Abstract: A method and system for exploring a real-world environment using a mobile robot platform comprising mapping the environment at a first time, to generate a first representation of the environment and identifying an initial location of an object in the first representation of the environment. The environment is mapped at a second time, to generate a second representation of the environment. The mappings are generated based on data obtained from a sensor associated with the mobile robot platform. Based on data obtained from the sensor, a new location of the object is identified in the second representation of the environment, and a difference between the initial location of the object and the new location of the object is determined. Using a manipulator the object is moved to the initial location when it is determined that the initial location of the object differs from the new location.

Abstract: A computer implemented method for updating a scene representation model is disclosed. The method comprises obtaining a scene representation model representing a scene having one or more objects, the scene representation model being configured to predict a value of a physical property of one or more of the objects; obtaining a value of the physical property of at least one of the objects, the obtained value being derived from a physical contact of a robot with the at least one object; and updating the scene representation model based on the obtained value. An apparatus is also disclosed.