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Actor Jesse L. Martin, 55, is enjoying the challenge of playing a behavioral scientist in the NBC crime drama The Irrational, which returns Jan. 29 for the final episodes of Season 1.

“I’ve played so many detectives in my career [and] it was very, very straightforward. [This character] is a lot more multifaceted.” Martin shares what he’s watching on TV these days, the Law

& Order star he’d love to work with again, and the sage life advice he received from James Earl Jones.

This interview has been edited for length and clarity.

The Irrational shoots in Vancouver. Have you had time to explore the area?

Well, I actually do work a lot, so when I’m not working, it’s quite a boring story of what I actually do. Part of it’s catching up on sleep, for sure. But if I have enough time to sort of

get fully rested … one of my pleasures is actually just putting the house back together — cleaning up and doing domestic chores, if you will. I don’t know why suddenly I get a big old kick

out of that, but I do. Doing things like laundry. Vancouver’s fantastic. It’s certainly not New York City, but it is its own beast, and it’s absolutely beautiful here. Today it’s snowing, so

it’s even more gorgeous.

Were you surprised when they brought back the original Law & Order? And were you interested in revising your character?

Oh, I loved [Law & Order character] Ed Green. He was the man for a long time. But you certainly have to move on and diversify in all the things you get to do as an actor. And I really

appreciate that somebody’s willing to still take me in and let me do my thing. I’m super grateful for it. ... I thought it was a good idea to bring back “the mothership” — that’s what we

used to call the original Law & Order. I wasn’t sure if I had any real interest in going back to that space. I certainly loved working with the people, particularly S. Epatha Merkerson [who

played Lt. Anita Van Buren]. I’d do anything to work with her again, in any capacity.

Who were your acting inspirations?

My mentor is [stage, TV and film actor] Stephen McKinley Henderson. … When I was around 11 years old, he came to my school and did sort of a one-man show of Clarence Darrow, who was a famous

lawyer. I was absolutely amazed, mesmerized by this man. I went up to him after the performance and I told him that I wanted to do what he does. He asked me my name, and he said, “I’m

going to look out for you, young blood.” And he has for years. He’s still my guy. He’s been doing the thing for a really, really long time. He was my first real inspiration.