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Peter Costa (actor) From Wikipedia, the free encyclopedia. Peter Costa is a former American child actor. Costa is best known for his many appearances on The Cosby Show, playing Rudy Huxtable's chubby friend Peter Chiara, whose signature trait was running out the door when a scary or disastrous situation occurs in the Huxtable house..
Lisa Bonet as Denise Huxtable and Bill Cosby as Dr. Heathcliff 'Cliff' Huxtable are pictured along with the rest of the cast of 'The Cosby Show.'. (NBC/NBC via Getty Images) Another Cosby Show star, Raven Symone, also shut down any reports that she was involved in the allegations surrounding Cosby.