I was self taught when I first started out. Ever hear of the theory of "hills and plateaus"? You get better, improve, then stay the same for a long time before you discover something new, then climb the next hill. Then you stall for a while until that next big discovery. It goes and goes and goes.
If you're self taught you will only get so far before you stagnate and can't progess beyond that point. The most progess you can make is to learn directly from someone who does better than you. Get lessons. LEARN! You can try to emulate, but you'll never learn how to do it unless you learn HOW to do it!!
You don't really have to learn to read music (try throwing a chart in front of today's "professional" drummers and watch them run to a corner and cower!), but you should be aware of what note values are, time signatures, counting and RUDIMENTS! Rudiments will FREE you!!!! You don't even really have to understand them, but they will expand your abilities and creative expression more than you will ever be able to by just figuring it out on your own. Its like someone who grows up as a hillbilly and then has to give a speach in front of congress.
Rudiments are the language we speak and the better your vocabulary, the better you will be able to express your feelings and "emote" yourself in the music!!
Learn, my son! But learn well!!!
We are not just drummers! WE ARE MUSICIANS!!