I've notices gapping too. Reducing the complexity of the ground/walls may help (i.e. bigger/longer pieces instead of multiple little blocks). Also, ensuring the pieces are aligned properly is a good idea (I've seen some sloppy walling/flooring on a few test projects). It could be you haven't implemented the concept of wall/floor the best it could be (there are some demo projects that seem pretty solid so take a peek at those). Also, if using round collision regions for any walls/floors (i.e. a row of barrels, gears, etc.), you will probably want some overlap or switch back to square/rectangular collision regions if they don't really move/roll anywhere.
Just some thoughts without seeing any examples of your particular issue.
i've seen this a few times, make sure the 2 actors are set to collide, you could try playing with the restitution, the other thing i noticed was if my invisible barrier walls were over lapping. i.e. take your 480 x 320 screen, i had walls around the 4 sides of that, where i overlapped the walls in the corners, if you hit them the actor would pass through. I then left about 1mm gap between the walls so the actor could not fit through it and that also stopped the actor going through the walls
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Just some thoughts without seeing any examples of your particular issue.
Also, if there's gravity in a scene, make sure the ground or wall actor can't fall , and that it's set to non-moveable