This work demonstrates a mechanism that autonomously organizes an agent’s sequential behavior. The behavior organization is driven by pre-defined values associated with primitive behavioral patterns. The agent learns increasingly elaborated behaviors through its interactions with its environment. These learned behaviors are gradually organized in a hierarchy that reflects how the agent exploits the hierarchical regularities afforded by the environment. To an observer, the agent thus appears to exhibit basic self- motivated, sensible, and learning behavior to fulfill its inborn predilections. As such, this work illustrates Piaget’s theories of early-stage developmental learning.