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The need to train new workers effectively and upskill the existing workforce is a challenge faced by almost every industry across the globe. The healthcare industry, in particular, is confronting a crisis. The World Health Organization (WHO) projects a shortage of 10 million healthcare workers by 2030. However, according to the Future of Jobs Report by the World Economic Forum, only half of the workers have access to training and learning opportunities. To sustain a resilient workforce and to protect the health of the world’s population, my thesis looks at using AI and robots to accelerate human learners’ acquisition of workforce skills. Specifically, I develop novel Explainable AI (XAI) algorithms to automate training to enable workers to collaborate with autonomous robots - a trend that is fast-growing. I also use statistical models to model human learner cognitive processes to create Human-Robot Interaction (HRI) systems to generate effective instructions tailored to individual learners. In addition to driving technical advances, my research is having a positive societal impact. I collaborate with Houston Methodist Hospital to create a first-of-its-kind robotic tutor for clinical nursing education to reduce healthcare-associated infections.