A method for training an agent uses a mixture of scenarios designed to teach specific skills helpful in a larger domain, such as mixing general racing and very specific tactical racing scenarios. Aspects of the methods can include one or more of the following: (1) training the agent to be very good at time trials by having one or more cars spread out on the track; (2) running the agent in various racing scenarios with a variable number of opponents starting in different configurations around the track; (3) varying the opponents by using game-provided agents, agents trained according to aspects of the present invention, or agents controlled to follow specific driving lines; (4) setting up specific short scenarios with opponents in various racing situations with specific success criteria; and (5) having a dynamic curriculum based on how the agent performs on a variety of evaluation scenarios.