Robert Malley was born in 1963 to Barbara (née Silverstein) Malley, a New Yorker who worked for the United Nations delegation of the Algerian National Liberation Front, and her husband, Simon Malley (1923–2006), an Egyptian-born Jewish journalist who grew up in Egypt and worked as a foreign correspondent for Al Goumhourya, a newspaper linked closely to Gamal Abdul Nasser's government.
Simon and Barbara Malley's son, Robert Malley, was a national security advisor in the Clinton administration and foreign policy advisor in the Barack Obama presidential campaign.
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The proposal was drawn up by Israeli–Palestinian envoy Dennis Ross, but represented discussions in September between Ross and the other members of his team—Aaron David Miller, Gamal Helal, Jon Schwartz, and Robert Malley.