Robert came out in 2002, in The Advocate magazine. Since that time, he has fought and continues to fight for the rights of the gay community. He has participated in numerous benefits, functions, and fund-raisers for such organizations as GLAAD, The Equality Forum, Project Angel Food, Lambda Legal, and the Democratic National Committee.

In 2003, Robert was presented with a special Civil Rights Award at City Hall in New York, and in 2004, along with other members of the Queer as Folk cast, was honored by The National Stonewall Democrats for creating, and presenting, positive and loving gay families in all their variations.

Robert has also spoken at numerous events for The Human Rights Campaign, and in 2006, was presented with the National Equality Award at the 11th Annual Nashville Rights Campaign Equality Dinner.

His champion cause is the gay, elderly community and, to that end, he is an avid supporter of such organizations as SAGE, (Senior Advocacy for GLBT Elders) and GLEH (Gay and Lesbian Elder Housing). He is in the process of developing a website devoted entirely to gay elders, and all matters that affect them.