An information processing apparatus generates multiple combinations of sensor data inputted to a machine learning apparatus, inputs the combinations of sensor data to the machine learning apparatus, and generates a recognizer corresponding to each of the combinations of sensor data. Further, the performance of the recognizers is evaluated in accordance with expected performance required for the recognizers, and the combinations of sensor data corresponding to the recognizers satisfying the expected performance are outputted. Thus, the rates of contribution of two or more pieces of sensor data inputted to the machine learning apparatus are evaluated, and the configuration of sensors is optimized.