Semantic parsing converts natural language utterances into structured logical expressions. We consider two such formal representations: Propositional Logic (PL) and First-order Logic (FOL). The paucity of labeled data is a major challenge in this field. In previous works, dual reinforcement learning has been proposed as an approach to reduce dependence on labeled data. However, this method has the following limitations: 1) The reward needs to be set manually and is not applicable to all kinds of logical expressions. 2) The training process easily collapses when models are trained with only the reward from dual reinforcement learning. In this paper, we propose a scoring model to automatically learn a model-based reward, and an effective training strategy based on curriculum learning is further proposed to stabilize the training process. In addition to the technical contribution, a Chinese-PL/FOL dataset is constructed to compensate for the paucity of labeled data in this field. Experimental results show that the proposed method outperforms competitors on several datasets. Furthermore, by introducing PL/FOL generated by our model, the performance of existing Natural Language Inference (NLI) models is further enhanced.