1. A behavior control apparatus, comprising: an input unit for creating pairs of an input pattern vector for learning and a target output, wherein said input pattern vector for learning includes inputs detected by a sensor and outputs provided to a controlled object as its elements; a first distributing unit for distributing said pair of the input pattern vector for learning and the target output to one of two or more classes based on the target output; a learning unit for learning correspondence between each element in the input pattern vector for learning and the target output in the class where said pair of the input pattern vector and the target output are distributed by said first distributing unit; a second distributing unit for distributing new input pattern vector into one of said classes according to learning result in said learning unit; and an output processing unit for calculating an output corresponding to said new input pattern vector according to said learning result in the class where said new input pattern vector is distributed by said second distributing unit, wherein the output is provided to said controlled object.