When i refer to Aikido being taught or learnt i am referring to a teacher student relationship.
In fact it really is only through self discovery that one improves. A number of senior aikidoka state they arent teachers but "guides", i.e. they can tell you something exists, but cant show you how to find it. You have to find it for yourself.
This is the discovery i was referring to which as you said is self learning.
My own belief in relation to the student /teacher relationship , the student is 'Taught' Aikido by a form of osmosis.By that I mean the transmission of the art is not done in a logical,systematic way where the teacher imparts knowledge in a manner like learning a new lanquage/maths.Aikido in my mind is 'doing ' .One learns by action.From touch, sensory input , from observation, self realisation.
The teacher may lay a path for the student , but the student I feel has to find his /her own way/WAY.. Cheers, Joe