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It's not that dogs have zero memory of that type, it's more about how they access (or process) it. A familiar person arrives and walks in the house, even one who hasn't been around for a year or more.... you and I as humans 'see' the person and know they are welcome. A dog remembers their scent, how they sound, move, etc. They remember it because of how they smelled/sounded etc before that. Do they remember the actual events of the day back then? Probably not. (as in not)
But they do remember, in their own way.
I've seen evidence of 'a dog's memory' far too often to believe anyone saying they have no memory ability of that kind at all. It's just different. Less than ours in many ways, but far sharper in some.
The fact that a dog can learn in itself belies the notion they have no memory. I once used an old 'dog whisperer' trick to teach my old dog Sully to stop jumping up on people. I have no doubt that he could not recall where or how the lesson came about or how it went etc, he very much did remember the central point of the lesson. Until the day he died he never again jumped up on anyone.
Planning? Dog's don't plan, they anticipate. They can also in certain situations use simple deductive reasoning to find something or someone. I've seen that too.
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