A configuration that causes an agent such as a character in a virtual world or a robot in the real world to perform actions by imitating actions of a human is to be achieved. An environment map including type and layout information about objects in the real world is generated, actions of a person acting in the real world are analyzed, time/action/environment map correspondence data including the environment map and time-series data of action analysis data is generated, a learning process using the time/action/environment map correspondence data is performed, an action model having the environment map as an input value and a result of action estimation as an output value is generated, and action control data for a character in a virtual world or a robot is generated with the use of the action model. For example, an agent is made to perform an action by imitating an action of a human.