From her mother, she was descended from a cadet branch of the Comital House of Burgundy, which ruled the County of Auxonne.
Haughty Otto however soon entered into several feuds: not only with the Anscarid lords of Auxonne and Mâcon, who claimed late Beatrice's heritage, but also with the Counts of Montbéliard, the French Duke Odo III of Burgundy and Duke Berthold V of Zähringen.