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He was the eldest of five sons of Robert of Courtenay († 1239), Lord of Champignelles, and his wife Matilda of Mehun.
He had been betrothed to Eudoxia on a former occasion; the circumstances surrounding the failed negotiations are unclear, but George Akropolites states that the arrangement was blocked on religious grounds by the Orthodox Patriarch Manuel Sarantenos: Robert's sister Marie de Courtenay was married to Emperor Theodore I Laskaris.