similar learning curve with both -- with either one your learning will be split between learning language constructs (Obj-C/Swift or Java), app architecture (iOS and Android both have unique ways of doing common things), and the ecosystem library (Cocoa Touch or Android).
In my experience: iOS is a bit easier, as long as you're using Objective-C, but not by much. Learning one doesn't necessarily help you learn the other.
Coming from web development (Rails), I started learning Swift this August with no previous background in Objective-C. I've found it to be fairly straightforward to pick up. I learned the basics in about a month and am approaching release of a production level app within the next month or so.
I have never tried Android dev though, so I can't compare to that.
Things on iOS are either really really easy or extremely difficult for really arbitrary reasons (can you left align the text in that SearchBox please?). The pain in Android is a bit more constant. Fragmentation is still horrible but getting better.
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[ 2.5 ms ] story [ 31.2 ms ] threadAlso, it's not so much the languages that are the steep learning curve, but the frameworks.
I have never tried Android dev though, so I can't compare to that.
iOS is slightly more easy overall though.