This is done by playing in the Time Attack and Survival modes on Normal.
Time Attack:
Level 2 = Personal Action 2
Level 7 = Personal Action 4
Level 12 = Personal Action 6
Level 17 = Personal Action 8
Level 20 = Personal Action 10
Survival:
Level 2 = Personal Action 3
Level 7 = Personal Action 5
Level 12 = Personal Action 7
Level 17 = Personal Action 9
Also, you don't have to get gold on Time Attack, just meet the quotas for each specific level.