In the late 1970s Robert came into contact with Chögyam Trungpa Rinpoche, an unconventional and deeply penetrating teacher and artist who had fled the Chinese Communist invasion of Tibet. Under his guidance he became involved in the study and practice of Buddhist meditation and philosophy. Leaving Boston to take jobs as caretakers at a rural retreat center in southern Colorado called Dorje Khyung Dzong.
In 1991 he moved to Boulder, Colorado, to take administrative jobs teaching at The Naropa Institute, now Naropa University. Chair of the visual arts department from 1996 until 2003. He continues to teach there as full professor in both the visual arts, contemporary performance, and religious studies departments.