Lucimarian Tolliver Roberts, the mother of "Good Morning America" anchor Robin Roberts, died on Thursday at the age of 88, according to Roberts's co-anchor George Stephanopoulos.

The GMA co-anchor describe Lucimarian as "a woman filled with so much joy."

Robin Roberts's mother was the author of the inspirational book "My Story, My Song," which featured fond reflections and recollections from Robin.

The news follows Roberts' announcement that she will be taking a medical leave to undergo a bone-marrow transplant after being diagnosed earlier this year with myelodysplastic syndrome, a disease of the blood and bone marrow.

Roberts, 51, was originally scheduled to start her leave after today's show but announced Thursday that she'd begin it a day early so she could fly home to Mississippi to be with her ailing mother.

On Friday's edition of GMA, Stephanopoulos said that Robin "wanted to get home a little early to say goodbye to her mom. She made it home just in time."