A system for controlling a robot arm, a fluid contained in a container is poured into another container. A learning model is generated by a machine learning with teaching data. Practically, a plurality of sets of learning data are acquired, each set including i) time-series information showing a posture of a robot arm which holds a first container holding therein a target fluid and pouring the target fluid from the first container to a second container and ii) a weight of the second container which changes time serially. This learning model is used such that only two types of information consisting of the information showing the posture of the robot arm and the weight of the second container at a first time are inputted to the learning model and information showing the posture of the robot arm at a second time is outputted from the learning model.