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Every time they die they remember how they died and do less of that. When they get a kill they start doing more of what got them that kill. with every time they get a kill their memory also expands so they "mature" over time

Okay, but if I built a maze, they wouldn't learn how to maneuver through it, right? 'Cause all they only learn how to kill or be killed.

if there are enemy's at the end of it and you gave them long enough they would learn to traverse it as long as there is a reward in place and the time to learn