Does this mean that the ice wasn't there during the stone age?
The climate is varying in long cycles, and the deglaciation 20 thousand years ago (last glacial maximum) was driven by a spike in summer temperatures, and this peak has already long passed. Ice ages and interglacial periods have a certain momentum to them, so it takes more than just that to go back to full ice age..
Glaciers don't melt instantly the moment the temperature flips from "form glaciers" to "melt glaciers". They operate on the integral of temperature -- heat. The temperature determines how fast they melt or form.
These melted really, really fast.