I think that it can definitely be taught. I have Asperger's Syndrome. It's now barely noticeable, but it used to be much worse. One of the symptoms I had, among being very sensitive to loud noises and not understanding common social cues, was a lack of empathy, as I have a different brain from most people. Fortunately, I got help when I was 3, and now I talk and act almost like a neurotypical. My lack of empathy was among the hardest things to improve for me, and I still slip up and say inappropriate things sometimes, but now it's much better. So I would say yes, it CAN be taught, at least to some extent.