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He married Judith, daughter of Eberhard of Friuli, and later Waldrada of Worms, by whom he left a son, Rudolf, who later became King of Transjurane Burgundy, and a daughter, Adelaide of Auxerre.
Adelaide of Auxerre (daughter of king Robert II of France), countess of Auxerre
Hugh was the son of Richard of Autun, Duke of Burgundy, and Adelaide of Auxerre.
They had two known children, Adelaide of Auxerre and Rudolph I of Burgundy.