You can use caption package
Create a .tex file in which you specify the following: uncheck the entire label below and you can hardcode the labels.
\usepackage{caption} \captionsetup[figure]{labelformat=empty}
Then your .rmd should look like this:
--- title: "TITLE" author: "ME" date: "`r Sys.Date()`" output: pdf_document: includes: in_header: YourName.tex --- ```{r setup, include=FALSE} knitr::opts_chunk$set(echo = TRUE) ```  \newpage 
Simplified: As suggested in the comments, we can achieve this in our .Rmd file, as shown below.
--- title: "TITLE" author: "ME" date: "`r Sys.Date()`" output: pdf_document: header-includes: - \usepackage{caption} - \captionsetup[figure]{labelformat=empty} --- ```{r setup, include=FALSE} knitr::opts_chunk$set(echo = TRUE) ```  \newpage 
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