Malcolm-Jamal Warner, who played Theodore “Theo” Huxtable in all 8 seasons of The Cosby Show, has died in accidental drowning, People reports. He was 54.

Warner was on a family vacation in Costa Rica and drowned while swimming.

Warner was nominated for the Emmy for best supporting actor in a comedy for his performance on the NBC sitcom, on which he played the only son of Bill Cosby’s character, Cliff Huxtable. Warner was a teenager throughout much of his tenure on the NBC sitcom. His character was an early fan favorite, as audiences watched Theo learn life’s ropes in real time — in one episode, Theo figures out the importance of budgets when his family removes his belongings from his room — and makes him learn how to “buy” it all back.

Born in New Jersey, Warner had early interest in acting–his parents enrolled him in performing arts school in New York City. He auditioned for the role of Theo Huxtable on the last day of NBC’s nationwide search, and he was selected by Cosby himself.

In his late teens, Warner began directing music videos for New Edition and Special Ed.

He then went on to helm episodes of “The Cosby Show,” “All That,” “Kenan & Kel” and “Malcolm & Eddie.” He also directed the widely circulated 1992 educational video “Time Out: The Truth About HIV, AIDS, and You,” which featured celebrities Arsenio Hall and Earvin “Magic” Johnson discussing the disease and how to prevent its spread. He also won a Grammy as a featured artist on the song “Jesus Children” alongside Robert Glasper and Lalah Hathaway.

Warner is survived by his wife and daughter.