He was a native of Cullei (modern Rabodanges in Orne, France), as reported by Orderic Vitalis, and his name d'Aguiló is a catalanized form of "d'Aculley" or "de Culley" that he adopted after marrying the daughter of a Catalan noble.
In 1124 Robert became governor of the newly conquered territory of Tudela and held that post for the next two years.
Three years after his term office, on 14 March 1129, he was ceded secular authority in the district of Tarragona by Olegarius, Bishop of Barcelona, with the title of "Prince of Tarragona" (princeps Tarraconensis), effectively the archiepiscopate's vidame or defensor (defender, advocate).
This occurred after he attempted to transfer his rights in the city to the Count of Barcelona but Robert rejected the agreement.
On 29 April 1157 the lordship of Reus was granted by Robert to the Church of Tarragona but it was transferred to Bertran de Castellet less than two months later on 3 June.