His serious yoga studies began in 1966, and he has studied Hatha, Kundalini, Raja, Ashtanga, and Forrest yoga styles. He has trained with many prominent yogis and swamis, including BKS Iyengar, numerous senior Iyengar teachers, Ana Forrest, Dave Swenson, Doug Swenson, Swami Muktananda, Swami Ranganathananda, Vethathiri Yogiraj Maharishi, and Swami Satchitananda.

Robert has also studied Tai Chi Chuan and Qigong with various world-renowned masters.

He recently completed the Ana Forrest teacher training in December of 2004 and Advanced Teacher Training in April 2005.

In addition, Robert received his Masters Degree in Physics from Rice University in 1973. His graduate studies in Nuclear Physics included work on an early detection system for cancer, which is now being used in a modified form. He has pursued various aspects of brain research, including the use and development of advanced EEG systems to treat addictions, psychological disorders, and stress.