1. A learning control hardware apparatus including a processor for controlling a learning operation of an apparatus configured to sense a state of an environment and select a behavior based on the sensed content, comprising: means for predicting learning of a behavior and a change in the state of the environment, and predicting a change in the state of the environment in response to a predetermined behavior; an evaluation unit configured to set a goal state in the behavior; means for planning a behavior sequence from a current state to the goal state set by the evaluation unit based on a prediction of the means for predicting; and means for controlling the behavior in the behavior sequence planned by the means for planning and learning an input and output relationship in the behavior, wherein the means for predicting calculates first information relating to a prediction accuracy based on learning, and transmits the first information to the evaluation unit, the means for planning calculates second information corresponding to an index that indicates whether the behavior based on the behavior sequence controlled by the means for controlling comes close to the goal state, and transmits the second information to the evaluation unit, the means for controlling calculates third information relating to a progress of learning of the input and output relationship, and transmits the third information to the evaluation unit, and the evaluation unit sets the goal state based on the first information, the second information, and the third information that was transmitted, and sets a new previously unlearned goal state for a new learning operation once the goal state is successfully achieved.