He participated in the Third Crusade, at the Siege of Acre and the Battle of Arsuf. He took part in the war in Normandy against the Angevin Kings between 1193 and 1204. Count Robert had seized the castle of Nonancourt from Richard I of England while he was imprisoned in Germany in late-1193. The count also participated in the Albigensian Crusade in 1210. In 1214 he fought alongside King Philip Augustus at the Battle of Bouvines.