1. A learning control apparatus for controlling a learning operation of an apparatus sensing a state of an environment and selecting a behavior based on the sensed content, comprising: predicting means for learning the 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; goal state setting means for setting a goal state in the behavior; planning means for planning a behavior sequence from a current state to the goal state set by the goal state setting means based on a prediction of the predicting means; and control means for controlling the behavior in the behavior sequence planned by the planning means and learning an input and output relationship in the behavior, wherein the predicting means calculates first information relating to an prediction accuracy based on learning, and supplies the first information to the goal state setting means, wherein the planning means calculates second information corresponding to an index that indicates whether the behavior based on the behavior sequence controlled by the control means comes close to the goal state, and supplies the second information to the goal state setting means, wherein the control means calculates third information relating to a progress of learning of the input and output relationship, and supplies the third information to the goal state setting means, and wherein the goal state setting means sets the goal state based on the first information, the second information, and the third information.