I think it is semantics really. To learn a skill from someone means that the person giving you the information you are learning is in a sense a "teacher" and thus teaching you something and thus you were taught. Yes you learned which is the action of acquiring knowledge and taught is having given knowledge to someone. I.e. " I learned how to strop from (Insert Name Here)." and the person you learned from would say "I taught cudarunner how to hone a razor using a brick".