Poul Anderson can seamlessly combine speculative fiction, cosmological science fiction and action-and-adventure fiction into a single narrative. I have several times remarked how often an Anderson hero, captured by his enemies, knocks out his guard, grabs the guard's sword or gun and runs. See:
An Occupied Planet
Circularity In The Corridors Of Time
It happens in World Without Stars. When Argens stumbles and his guard nudges, he is enraged enough to grab the guard's knife, slash and run. The guard pursues but collapses from the knife wound. Others pursue but are killed by the watching Pack - Argens' potential allies. A neat escape, one of many.