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Yes, the ranks are not cumulative. Let's say rank 1 is 50 armor and rank 2 is 100 armor. If you train rank 1 you'll get 50 armor total. If you then train rank 2 you'll get 100 armor total (+50 over rank 1). And you don't need to have learned a lower rank to train a higher rank if you already know the higher rank. The ranks merely exist as options depending on how you wanna spec your pet for other abilities/resistances as you're only allotted 300 points total.