Wu, Jizhou, Jianye Hao, Tianpei Yang, Xiaotian Hao, Yan Zheng, Weixun Wang, and Matthew E. Taylor. “PORTAL: Automatic Curricula Generation for Multiagent Reinforcement Learning”. Proceedings of the AAAI Conference on Artificial Intelligence 38, no. 14 (March 24, 2024): 15934–15942. Accessed May 10, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/29524.