Final answer:
Plato's theory of ideas is associated with the concept that learning is the recollection of knowledge inherent in the soul, which has pre-existed and been in contact with the Forms or Ideas before birth.
Step-by-step explanation:
The concept most closely associated with Plato's theory of ideas, or Forms, is that learning is recollection – the soul passes through cycles of life and death. In Plato's Theory of Knowledge, he proposes that the human soul pre-exists and is in contact with the Forms or Ideas before birth and that learning is essentially the process of recollecting this prior knowledge. Plato's work, notably in 'The Republic' and dialogues such as 'Meno', explores this concept, suggesting that the soul contains all knowledge inherently, and through the process of anamnesis or recollection, individuals can come to know the essence or Forms of things.