Perdigan

A troubador named Perdigan steals the peddler's goods in The Hypnotizer

His name is initially revealed via the closed captions. Robin does refer to him by name before saying "I couldn't have gotten into the castle without you" but it's unclear how he knows his name. The name had not been spoken in the episode until then and Robin had previously only called him "the troubador" implying he did not know his name, so it is unclear how he learned it.