Ascending Stairway Modeling Live Demo: Toward Autonomous Multi-Floor Exploration. 1 Jeffrey Delmerico, Jason Corso, David Baran, Philip David and Julian Ryde Task-based World Model Verification..................................................... 2 Jos Elfring, Sjoerd van Den Dries, Rene Van De Molengraft and Maarten Steinbuch Segmentation of Cluttered Scenes through Interactive Perception......................... 3