Numerous telescopes and techniques have been used to find and study extrasolar planets, but none has been more successful than NASA's Kepler Space Telescope. Kepler has discovered the majority of known exoplanets, the smallest planets to orbit normal stars, and the worlds most likely to be similar to our home planet. Most importantly, Kepler has provided our first look at typical characteristics of planets and planetary systems for planets with sizes as small as and orbits as large as those of the Earth.Kepler is a 0.95 m aperture space telescope launched by NASA in 2009Koch et al. 2010). Kepler identifies those exoplanets whose orbits happen to appear edge-on by searching for periodic dips caused by planetary transits (partial eclipses) of the stellar discs. Above Earth's atmosphere, and in an Earth-trailing heliocentric orbit away from the glare and thermal variations of low Earth orbit, Kepler monitored the brightness of more than 10 5 stars at 30-minute cadence for four years. Kepler's unique asset is an unprecedented photometric precision of ∼ 30 parts per million (ppm) for 12th magnitude stars with data binned in 6.5 hour intervals (Gilliland et al. 2011). This time interval is used as a benchmark because the Earth takes 13 hours to transit the Sun as viewed by a distant observer in the ecliptic plane, and observers slightly away from the ecliptic view a transit of shorter duration. Such high-precision measurements are only possible in space, where stars do not twinkle, and are required to search for Earth-like worlds because the transit of such a planet across the disc of a Sun-like star blocks only 80 ppm of the stellar flux. For comparison, the transit of a Jupiter-size planet across a similar star blocks 1% of the flux, and this dip is straightforward to detect using ground-based telescopes.Transits of ∼ 3600 planet candidates, the vast majority of which represent true exoplanets as described below, have been identified in the first three years of Kepler data ( Figure 1). The discovery of these worlds, most of which have orbital periods (local "years") shorter than a few Earth months, has greatly expanded the zoo of known exoplanet types. Kepler planets have radii, R p , intermediate between those of Earth and Neptune (1 -3.8 R ⊕ , where R ⊕ = 6371 km is the Earth's radius); planets in this size range are missing from our Solar System. These planets have a wide range of densities Lissauer et al. 2011a;Doyle et al. 2011;Carter et al. 2012;Jontof-Hutter et al. 2014;Marcy et al. 2014), probably because they have atmospheres with a wide range of properties. Nonetheless, theoretical models of their interiors (e.g., Fortney et al. 2007) imply that all of the planets in this class are "gas-poor", that is, less than half -in most cases far less -of their mass consists of hydrogen and helium (H/He). In contrast, H/He make up more than 98% of our Sun's mass as well as substantial majorities of the masses of Jupiter, Saturn, and almost all known giant exoplanets with R p > 9 R ⊕ .Kepler's primary mission is to c...