using the gripper attached to the robot. The objective function for $S_2$ is given by: $$\label{eq:t2}
\mathcal{F}_{T_2} = \sum_{t=0}^{\tau} (f_{obs} + f_{light} + f_{puck})$$ where,  $f_{puck} = b_{puck} + v_{trans}$\
$b_{puck}$ is a binary variable which is equal to 1 if a puck is within the gripper else it defaults to 0. The meanings of $f_{obs}$ and $f_{light}$ are same as that defined in scenario $S_1$.\
*Scenario $S_3$ - Dynamic Environment*: In this scenario, a change in the environment needed to be compensated by a reversal of a behaviour. Here, the light source was switched ON or OFF in an asynchronous manner during run time. When the light was ON, the goal remained the same as in scenario $S_2$ where the robot needed to push the puck towards the light source. However, when the light source was switched OFF, the robot needed to learn to repel these object whenever encountered. Irrespective of whether the light source was ON or OFF, the robot also needed to learn to avoid the walls or any other static obstacle. The objective function used in this scenario is given below. $$\label{eq:t3}
\mathcal{F}_{T_3} = \sum_{t=0}^{\tau} (f_{obs} + f_{light} + b_{light} * f_{puck} + \overline{b}_{light} * f_{antipuck})$$ 