Before revision:  The benefit is mainly two-fold: Firstly, the Solver achieves better generalization through the generated challenges from the Generator .
After revision:  The Generator receives a reward signal based on the Solver's performance, which encourages the environment design to be challenging but not impossible. To further drive diversity and control of the environment generation, we propose using auxiliary inputs for the Generator. The benefit is two-fold: Firstly, the Solver achieves better generalization through the generated challenges from the Generator .