Actor and director Malcolm-Jamal Warner, best known for his role on "The Cosby Show," has died in an accidental drowning in Costa Rica, officials there said. He was 54.

The 54-year-old star of "The Cosby Show" and "The Resident" was pulled ashore by bystanders after being caught in a strong current, but was eventually pronounced dead at the scene.

Costa Rican first responders also treated a second person at the scene where Malcolm-Jamal Warner was declared dead on Sunday, July 20, the Costa Rican Red Cross tells PEOPLE.