1. An apparatus comprising: a control module configured to store a plurality of unit behaviors associated with controlling movements of one or more effectors; and a learning system coupled to the control module and configured to: receive sensed inputs corresponding to movements of one or more effectors that occur responsive to invoking one or more of the plurality of behaviors at the control module; and generate a representation of relationships between the invoked one or more unit behaviors and the one or more effectors based on the sensed inputs and the invoked one or more behaviors.