Abilities can be learned from the creatures with the "WILD SIGNATURE"

* First you must to unlock the ability slot in abilities section on the skill tree:
It will happen automatically if you fight with the enemies which are marked by "WILD SIGNATURE". (Shining horns icon)

* If the ability slot is unlocked it automatically captures the ability, once the creature uses it.

* Then you can simply click with the right mouse button on it and drag the ability icon to the mini menu slots in the mid-down center of the screen.

* To lounch the abilities from mini menu slots just hit 1,2,3,4,5 buttons.