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WESTCHESTER COUNTY, N.Y. -- The estranged wife of Robert F. Kennedy Jr. was found dead at her home in Bedford Wednesday afternoon.

According to Bedford Police, the body was found in a building on their Westchester County property.

Mary Richardson Kennedy was Robert F. Kennedy Jr.'s second wife. They had four children together.

Robert F. Kennedy Jr.'s family released a statement following the death, saying in part, "...Mary inspired our family with her kindness, her love, her gentle soul and generous spirit. Mary was a genius at friendship, a tremendously gifted architect and a pioneer...She applied her talent, energy and passion which were both brilliant and abundant...to advocacy for treatment and finding a cure for food allergies and asthma. She was an instrumental co-founder and driving force of the Food Allergy Initiative to which contributions may be made in her name..."

The death remains under investigation.

An autopsy is being performed to determine the cause of death.

Kennedy was 52.