Table 1.

Number of steps taken and total cumulative model accesses performed during 3 trials in a navigation task (Figure 2) that has been scaled-up in size.

States in Maze	Non-hierarchical		Hierarchical
	Steps Taken (× 1000)	Model Accesses (× 1000)	Steps Taken (× 1000)	Model Accesses (× 1000)
768	2.99 [2.99–3]	112 [109–114]	1.91 [1.88–1.95]	124 [120–124]
1728	6.67 [6.61–6.81]	313 [274–339]	3.62 [3.23–3.88]	245 [233–261]
3072	11.75 [11.34–12.05]	673 [631–743]	6.9 [6.33–7.45]	510 [455–558]
4800	16.17 [12.18–18.16]	769 [271–1141]	9.74 [9.03–10.63]	758 [701–789]
6912	26.22 [25.54–27.23]	1683 [1310–2101]	13.43 [12.79–14.33]	1061 [1011–1123]
12,288	Failed		25.76 [24.17–27.44]	2185 [2069–2354]
19,200	Failed		36 [34.07–37.95]	3138 [2932–3366]
76,800	Failed		144.78 [136.45–152.32]	14,323 [13,475–15,488]

Mean and range across 8 repetitions are shown.