Fresh Prince Star Alfonso Ribeiro Divorcing

08/10/2006 at 09:45 AM EDT

Fresh Prince Star Alfonso Ribeiro Divorcing
Ribeiro and Stapler in 2001
Gilbert Flores/Celebrity Photo
Alfonso Ribeiro, best known as Will Smith's sidekick Carlton Banks on the 1990-96 sitcom The Fresh Prince of Bel-Air, has filed for divorce from his actress wife, Robin Stapler, after four years of marriage.

For the couple, who met in 1999 while filming the series In the House, it was love at first sight. Ribeiro, 34, approached Stapler on set and asked about her after-work plans. They went to dinner that evening and were together ever since.

Divorce papers filed Aug. 9 in Los Angeles Superior Court cite irreconcilable differences. The couple will share joint custody of their 3-year-old daughter, Sienna.

Ribeiro – who got his start on the '80s series Silver Spoons and once danced with Michael Jackson in a Pepsi commercial – has recently turned director, helming episodes of shows including Eve, One on One and All of Us, created by his old friend Will Smith and wife Jada Pinkett Smith.

He is currently producing the animated 1-Second Film, due in 2007. Stapler has appeared on episodes of The Parkers, The Steve Harvey Show and Star Trek: Voyager.

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