There is provided an information processing apparatus including a manipulation model learning unit configured to learn a manipulation model regarding manipulation of a first object by a second object, by use of an actual image that is an actually observed image including the first object and the second object, the manipulation model associating a position and a change in state of the second object, when a state of the second object changes at a position in an object reference coordinate system with the first object regarded as a reference, with a change in state of the first object caused by the change in state of the second object.