It's Valor (High Jump) and Final (Glide).
Wisdom gets Quick Run.
Master learns Aerial Dodge/Double Jump

For all forms, Learned abilities
At level one of the form, the ability is usable only in form, Sora cannot use the Learned ability from the form yet while in normal form
At level three, the ability converts to level 2, and level one is usable by Sora
At level five, the ability converts to level 3, and level 2 is usable by Sora
At Maximum Drive levels, the ability converts to level 4/MAX, and level 3 is usable by Sora

Level Valor by attacking anything. The more the hits (weapon strikes), the more the EXP.
Level Wisdom by killing Heartless, all Heartless counts for 1 EXP.
Level Master by gathering Drive Orbs, from most Hollow Bastion enemies.
Level Final by killing Nobodies, all Nobodies count for 1 EXP.