Abstract: A method of determining an arrangement for objects comprises obtaining first data representing a first arrangement of first objects in a scene; inputting the obtained first data into a trained machine learning model to determine a first cost value for the first arrangement. The first cost value is indicative of an extent to which the first arrangement differs from an optimum arrangement of the first objects according to a cost function that the machine learning model has been trained to provide. The method comprises determining a second arrangement for the first objects based on the first cost value.

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.