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Robert was a member of the de Grandmesnil family and also identified closely with his mother's Giroie family of Échauffour and Montreuil-l'Argillé, members of which family were vassals as well as rivals of the de Bellême family.
William of Bellême (960/5 – 1028) called William Princeps, was the Seigneur of Bellême and a member of the House of Bellême
Yves de Bellême (died c. 1005), Seigneur de Bellême, the first known progenitor of the House of Bellême.