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 comprises a plurality of nodes arranged into first level nodes and second level nodes, each of the first level nodes associated with a first level effector motion, each of the second level nodes associated with a second level effector motion, one or more first level effector motions combined to form a second level effector motion, the learning system 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 unit 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 unit behaviors.