I think the main idea of this paper is to apply the first author's PhD thesis to a real problem. The author leaves many algorithmic details in his thesis, and put emphasis on the formulation of the problem and the experimental results.

As many pointed out, the central algorithm (SANE) is really a complicated one and maybe a overkill, especially the neural network part. It would be nice if the authors rephrase briefly the algorithm to make the paper self-contained.

Formulation the problem in terms of symbiotic RL is interesting. Is this problem related to Ecology systems? Is there similar works in recent RL literature?