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Schematic illustrating the training, pre-test, and testing phases. Gray traces represent paths taken during exploration by the RL agents (training map shown is the map used in condition 1). Accessible states are white, blocked states are black, and accessible rewarded states are red. In the training phase, agents have sufficient exploration for all 100 random seeds to learn a path from the threat zone to the shelter. Middle: a representative exploration trace from the pre-test phase. Right: an example escape trajectory from the threat zone (asterisk) to the shelter (red square).

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