An electronic device includes: a state observer configured to observe a state of the electronic device according to an environment interactable with the electronic device; one or more processors configured to: determine a skill based on the observed state; determine a goal based on the determined skill and the observed state; and determine, based on the state and the determined goal, an action causing a linear state transition of the electronic device in a direction toward the determined goal in a state space; and a controller configured to control an operation of the electronic device based on the determined action.