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and there's several demonstrations at the time of Skinner
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suggesting that they don't.
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This is from a classic study by Tolman
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where rats were taught to run a maze.
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And what they found was the rats did fine.
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They learn to run a maze faster and faster
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when they're regularly rewarded
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but they also learn to run a maze faster and faster
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if they are not rewarded at all.
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So the reward helps,
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but the reward is in no sense necessary.
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And here's a more sophisticated illustration of the same point.