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The object manipulation is a crucial ability for a service robot, but it is hard to solve with reinforcement learning due to some reasons such as sample efficiency. In this paper, to tackle this object manipulation, we propose a novel framework, AP-NPQL (Non-Parametric Q Learning with Action Primitives), that can efficiently solve the object manipulation with visual input and sparse reward, by utilizing a non-parametric policy for reinforcement learning and appropriate behavior prior for the object manipulation. We evaluate the efficiency and the performance of the proposed AP-NPQL for four object manipulation tasks on simulation (pushing plate, stacking box, flipping cup, and picking and placing plate), and it turns out that our AP-NPQL outperforms the state-of-the-art algorithms based on parametric policy and behavior prior in terms of learning time and task success rate. We also successfully transfer and validate the learned policy of the plate pick-and-place task to the real robot in a sim-to-real manner.