Born Milton Rauschenberg in 1925 in Port Arthur, Texas, and raised a Christian fundamentalist, Rauschenberg wanted to be a minister but gave it up because his church banned dancing.

He was drafted into the U.S. Navy during World War II and knew little about art until a chance visit to an art museum where he saw his first painting at age 18. He drew portraits of his fellow sailors for them to send home.

When his time in the service was up, Rauschenberg used the GI Bill to pay his tuition at art school. He changed his name to Robert because it sounded more artistic.

In recent years he founded the organization Change Inc., which helps struggling artists pay medical bills.