diff --git a/include/aikido/util/ExecutorThread.hpp b/include/aikido/util/ExecutorThread.hpp
index 35424f7b57..f39b72760b 100644
--- a/include/aikido/util/ExecutorThread.hpp
+++ b/include/aikido/util/ExecutorThread.hpp
@@ -25,18 +25,18 @@ class ExecutorThread final
 public:
   /// Constructs from callback and period. The thread begins execution
   /// immediately upon construction.
-  /// \param[in] callback
-  /// \param[in] period
+  /// \param[in] callback Callback to be repeatedly executed by the thread.
+  /// \param[in] period The period of calling the callback.
   template <typename Duration>
   ExecutorThread(std::function<void ()> callback, const Duration& period);
 
-  /// Default destructor. The thread is stopped as ExecutorThread is destructed.
+  /// Default destructor. The thread stops as ExecutorThread is destructed.
   ~ExecutorThread();
 
   /// Returns true if the thread is running.
   bool isRunning() const;
 
-  /// Stops the thread. It is safe to call this function even when the thread is
+  /// Stops the thread. It is safe to call this function even when the thread
   /// already stopped.
   void stop();
 
diff --git a/src/util/ExecutorThread.cpp b/src/util/ExecutorThread.cpp
index a187179a7c..25cb4ccfb4 100644
--- a/src/util/ExecutorThread.cpp
+++ b/src/util/ExecutorThread.cpp
@@ -39,7 +39,12 @@ void ExecutorThread::spin()
     catch (const std::exception& e)
     {
       std::cerr << "Exception thrown by callback: " << e.what() << std::endl;
+      // TODO: We should find another way to handle this error, so we don't
+      // print directly to std::cerr. Unfortunately, we don't have a better
+      // solution yet since Aikido doesn't use any particular logging framework.
       mIsRunning.store(false);
+
+      break;
     }
 
     currentTime += mPeriod;
diff --git a/tests/util/test_Executor.cpp b/tests/util/test_Executor.cpp
index 53da70b6ff..7c98308852 100644
--- a/tests/util/test_Executor.cpp
+++ b/tests/util/test_Executor.cpp
@@ -41,3 +41,14 @@ TEST(ExecutorThread, Execute)
   exec.stop();
   EXPECT_TRUE(!exec.isRunning());
 }
+
+//==============================================================================
+TEST(ExecutorThread, ExceptionThrownByCallback)
+{
+  ExecutorThread exec(
+      []() { throw std::exception(); }, std::chrono::milliseconds(1));
+
+  std::this_thread::sleep_for(std::chrono::seconds(3));
+
+  EXPECT_TRUE(!exec.isRunning());
+}