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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 was the second son of Giroie, Lord of Échauffour and Gisle, daughter of Thurston de Bastembourg lord of Montfort-sur-Risle.