I believe your professor is correct under the conditions that $\int_{-\infty}^{+\infty} f(x)dx = 1$ and $f(x) \geq 0$ for every $x\in\mathbb{R}$. I will flesh out his proof in greater detail below, but first I want to show how we can make sense of $\int_{\infty}^{\infty} f(x) dx$:
First, let $f$ be a density function such that $\int_{-\infty}^{+\infty} f(x)dx = 1$ and $f(x) \geq 0$.
Now, for every $a,b\in\mathbb{R}$ such that $a\lt b$, consider $\int_{a}^{b} f(x) dx=F(a)-F(b)$ where $F'(x)=f(x)$, by FTOC.
Observe $F(a)-F(b)=g(a,b)$. Then, by substitution we have $\int_{a}^{b} f(x) dx=g(a,b)$. Next, we take the limit of this equation as $b\to\infty$ so that
$lim_{b\to \infty}g(a,b)=lim_{b\to \infty}\int_{a}^{b} f(x) dx=\int_{a}^{\infty} f(x) dx$
by definition of an improper integral. We again take the limit of the equation, this time as $a\to\infty$, so that
$\lim_{a\to \infty}\{lim_{b\to \infty}g(a,b)\}=\lim_{a\to \infty}\{\lim_{b\to \infty}\int_{a}^{b} f(x) dx\}=\lim_{a\to \infty}\int_{a}^{\infty} f(x) dx=\int_{\infty}^{\infty} f(x) dx$
So really this odd looking integral $\int_{\infty}^{\infty} f(x) dx$ is simply saying that we are taking the nested limit of some bivariate function, $g(a,b)$, as $a\to\infty$ and $b\to\infty$. Now let's prove $\int_{\infty}^{\infty} f(x) dx=0$ as follows:
$\int_{\infty}^{\infty} f(x) dx = \lim_{a\to \infty}\{\lim_{b\to \infty}\int_{a}^{b} f(x) dx\}$
$=\lim_{a\to \infty}\{\lim_{b\to \infty}[\int_{a}^{c} f(x) dx + \int_{c}^{b} f(x) dx]\}$
where $c$ is some real constant such that $a\lt c\lt b$, by properties of definite integrals
$=\lim_{a\to \infty}\{\int_{a}^{c} f(x) dx + \lim_{b\to \infty}\int_{c}^{b} f(x) dx\}$
by the constant function rule for limits
$=\lim_{a\to \infty}\int_{a}^{c} f(x) dx + \lim_{b\to \infty}\int_{c}^{b} f(x) dx$
by the constant function rule for limits
$=\lim_{a\to \infty}-\int_{c}^{a} f(x) dx + \lim_{b\to \infty}\int_{c}^{b} f(x) dx$
by properties of definite integrals
$=-\lim_{a\to \infty}\int_{c}^{a} f(x) dx + \lim_{b\to \infty}\int_{c}^{b} f(x) dx$
by the constant multiple rule for limits
$=-\lim_{a\to \infty}[F(a)-F(c)] + \lim_{b\to \infty}[F(b)-F(c)]$
by FTOC
$=-[\lim_{a\to \infty}F(a)-F(c)] +\lim_{b\to \infty}F(b)-F(c)$
by the constant function rule of limits
$=-\lim_{a\to \infty}F(a)+F(c) +\lim_{b\to \infty}F(b)-F(c)$
by the distributive law
$=\lim_{b\to \infty}F(b)-\lim_{a\to \infty}F(a) + F(c)-F(c)$
by the commutativity law
$=\lim_{b\to \infty}F(b)-\lim_{a\to \infty}F(a)$
by the additive inverse and identity laws
Since $f$ is a density function such that $\int_{-\infty}^{+\infty} f(x)dx = 1$ and $f(x) \geq 0$ for every $x\in\mathbb{R}$, then $\lim_{x\to \infty}F(x)$ exists, or in other words, $\lim_{x\to \infty}F(x)=L\in\mathbb{R}.$ Now, $a$ and $b$ are just arbitrary variables whose values increase positively without bound. Hence, $\lim_{b\to \infty}F(b)=\lim_{a\to \infty}F(a)=L$. By substitution, we have
$=L-L=0$
Therefore, if $\int_{-\infty}^{+\infty} f(x)dx = 1$ and $f(x) \geq 0$, then $\int_{\infty}^{\infty} f(x) dx =0$
(to confirm properties of definite integrals used in this proof, see http://mathworld.wolfram.com/DefiniteIntegral.html.)