  Advancements in reinforcement learning (RL) have demonstrated superhuman
performance in complex tasks such as Starcraft, Go, Chess etc. However,
knowledge transfer from Artificial "Experts" to humans remain a significant
challenge. A promising avenue for such transfer would be the use of curricula.
Recent methods in curricula generation focuses on training RL agents
efficiently, yet such methods rely on surrogate measures to track student
progress, and are not suited for training robots in the real world (or more
ambitiously humans). In this paper, we introduce a method named Parameterized
Environment Response Model (PERM) that shows promising results in training RL
agents in parameterized environments. Inspired by Item Response Theory, PERM
seeks to model difficulty of environments and ability of RL agents directly.
Given that RL agents and humans are trained more efficiently under the "zone of
proximal development", our method generates a curriculum by matching the
difficulty of an environment to the current ability of the student. In
addition, PERM can be trained offline and does not employ non-stationary
measures of student ability, making it suitable for transfer between students.
We demonstrate PERM's ability to represent the environment parameter space, and
training with RL agents with PERM produces a strong performance in
deterministic environments. Lastly, we show that our method is transferable
between students, without any sacrifice in training quality.
