I could see this being the domain of fleets of robots, many different styles, compositions, materials, etc. Send ten robots in to survey a room - drones, crawlers, dogs, rollers, etc - they'll bang against things, knock things off shelves, illuminate corners, etc. The aggregate of their observations is the useful output, kinda like networked toddlers.
And yeah, unfortunately, sometimes this means you just need to send a swarm of robots to attack a city bus... or a bank... to "learn how things work." Or an internment camp. Don't get upset, guy, we're building a world model.
Anybody wanna give me VC money to work on this?