Also Paulo Freires approach to pedagogy (science of teaching/learning) highly emphasizes this type of learning through praxis (not just a buzzword!) and conscientizacao (and I thought bourgeoisie was hard to spell!).

Praxis (Action/Reflection)

Praxis is a continuous cycle—we would say a spiral—of action and reflection. It is not enough for people to come together in dialogue in order to express the problems they face. They must actively work together to change their situation, reflect critically upon their reality to gain further knowledge, and in doing so transform their reality through further action and critical reflection. This cycle of action and reflection is never ending.

Conscientization (conscientizacao)

Conscientization is the process of developing a critical consciousness of the social and political forces that shape our lives, and developing the critical thinking skills to challenge injustice and create change. This is not simply an intellectual process, or a moment of enlightenment, but one that presupposes an ongoing commitment to action. Nor is it an individual process; we discover and seek to change reality through our collective activity. The concept is a difficult one as it is often misused by people who treat it as an intellectual process. Paulo Freire says that we all acquire social myths which have a dominant tendency, and so learning is a critical process which depends upon uncovering real problems and actual needs.

Two terms from: https://www.freire.org/concepts-used-by-paulo-freire