 In the subsequent battle the Empress's forces were defeated and Robert of Gloucester himself was taken prisoner during the retreat, although Matilda herself escaped, exhausted, to her fortress at Devizes.With both Stephen and Robert held prisoner, negotiations were held to try to come to agreement on a long-term peace settlement, but Queen Matilda was unwilling to offer any compromise to the Empress, and Robert refused to accept any offer to encourage him to change sides to Stephen.Instead, in November the two sides simply exchanged the two leaders, Stephen returning to his queen, and Robert to the Empress in Oxford.