clarification about capabilities-based verification relationships

Hi,
In  https://www.w3.org/TR/did-core/ it is mentioned

"Examples of verification relationships include: authentication, capabilityInvocation, capabilityDelegation, keyAgreement, and assertionMethod"

Is there any information about what capabilityInvocation, capabilityDelegation are? I show that Veres One DID method use something similar, but I did not really get it.

Thanks,
Nikos