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The Robotics Program at Oregon State University has been running an NSF-funded summer Research Experiences for Undergraduates (REU) site since 2014. Over twenty students per year (on average) have participated in the site, spending ten weeks embedded in the OSU Robotics Program. Our main focus with this REU Site is to give the participants a com- plete research experience, from problem definition to the fi- nal presentation of results, “in miniature”. Our secondary ed- ucational objectives are: 1) Teach basic non-technical skills needed for graduate work, such as time management and lit- erature review, 2) Provide details on how to apply to gradu- ate school and for funding, 3) Clarify what we look for in a graduate student, and 4) Detail what to expect from the grad- uate student experience. In this paper, we describe the over- all structure of the participants’ summer experience, outline some of the training materials that we use, describe the moti- vations for our approach, and discuss the lessons that we have learned after running the program for a number of years.