At the age of eleven, he performed a soft-shoe routine with Bob Hope as part of Hope's USO tour.
He graduated from Georgetown University Law Center in 1993 in the same class as Michael Powell (Former FCC Chairman) and Robert Bigelow (Court TV).
He was a practicing attorney before going into acting full time.
He was the recipient of a special civil rights award presented to him in New York's City Hall in 2003.
In 2006, The Human Rights Campaign presented him with the National Equality Award at the 11th Annual Nashville Rights Campaign Equality Dinner.
In 2007, Robert was presented with the Davidson/Valentini Award at the 19th Annual GLAAD Media Awards.
In 2008, Robert was the recipient of the Visionary Award, presented to him at the Garden State Equality, 2008 Legends Dinner.
One of the co-founders of a production company called Mythgarden, which he formed with producer Christopher Racster and actor Chad Allen ("Dr. Quinn, Medicine Woman" (1993)).