Andragogy refers to how adults learn and originated in 1833, focusing on assumptions about adult learners like self-concept, experience, readiness, and motivation. Taxonomy is a classification of educational objectives into categories like knowledge, comprehension, and evaluation, and was created by Benjamin Bloom in 1956 to help design instruction. Together, andragogy and taxonomy can help design effective training programs for adult learners by considering how adults learn best and setting clear objectives.