It depends on the logical subject of the second verb.
With μπορώ, the subjects of "be able" and the second verb will be the same, so yes -- but this isn't true for να in general.
With θέλω, for example, it's possible for the subjects to be different, as in Θέλω να φας "I want you to eat / I want that you eat", where the subject of the wanting and the subject of the eating are different.
And with πρέπει, the subject of "it is necessary" is always third person singular, but the subject of the verb can be anything (e.g. πρέπει να φύγω "I have to go / it is necessary that I go").
Usually after "να", one uses the equivalent of the infinitive in Greek which in this case should have been "μαθαίνω".
This is true only for the continuous subjunctive. :) Read more about it in "A Guide for the Greek Subjunctive (Active Verbs)" https://forum.duolingo.com/comment/24471413 .