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Evolutionary models have shown the substantial effect that strong mass-loss rates ($\dot{M}$) can have on the fate of massive stars. Red supergiant (RSG) mass-loss is poorly understood theoretically, and so stellar models rely on purely empirical \mdot-luminosity relations to calculate evolution. Empirical prescriptions usually scale with luminosity and effective temperature, but $\dot{M}$ should also depend on the current mass and hence the surface gravity of the star, yielding more than one possible $\dot{M}$ for the same position on the Hertzsprung-Russell diagram. One can solve this degeneracy by measuring $\dot{M}$ for RSGs that reside in clusters, where age and initial mass ($M_{\rm init}$) are known. In this paper we derive $\dot{M}$ values and luminosities for RSGs in two clusters, NGC 2004 and RSGC1. Using newly derived $M_{\rm init}$ measurements, we combine the results with those of clusters with a range of ages and derive an $M_{\rm init}$-dependent $\dot{M}$-prescription. When comparing this new prescription to the treatment of mass-loss currently implemented in evolutionary models, we find models drastically over-predict the total mass-loss, by up to a factor of 20. Importantly, the most massive RSGs experience the largest downward revision in their mass-loss rates, drastically changing the impact of wind mass-loss on their evolution. Our results suggest that for most initial masses of RSG progenitors, quiescent mass-loss during the RSG phase is not effective at removing a significant fraction of the H-envelope prior to core-collapse, and we discuss the implications of this for stellar evolution and observations of SNe and SN progenitors.