*4.1. Algorithm Intuition*

Figure 3 shows the flowchart describing the main steps of CODB and its application in real-time pathfinding tasks.

**Figure 3.** The flowchart describing the process of building a DM, building a DM-based subgoal graph, engaging a high-level path planning task, and executing Learning Real Time A\* (LRTA\*) to fulfill a low-level navigation task.
