This paper presents a virtual reality for vocational rehabilitation system (VR4VR) that is currently in development at the University of South Florida's Center for Assistive, Rehabilitation, and Robotics Technologies (CARRT). VR4VR utilizes virtual reality to assess and train individuals with severe cognitive and physical disabilities. Using virtual reality offers several advantages such as being inexpensive, safer and easily adjustable to different user needs through customization of environments, content and real time interventions. The system is composed of the following components: a virtual reality training area surrounded by an optical motion tracking system, a curved screen with two projectors, a server computer, a remote control interface on a tablet computer for job coaches, and a virtual assistive robot. This paper focuses on virtual reality training for underserved individuals with cognitive disabilities, such as autism spectrum disorder (ASD) and traumatic brain injury (TBI). We describe six transferrable skill modules and corresponding design considerations. Future work focuses on people with severe mobility impairment, such as spinal cord injury (SCI).