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No, we don't know. Some are known to have been historical and some aren't, but proving particular heroes to be invented is another matter entirely, and usually impossible.

It is worth noting that the major outlaw romances fall into two classes: A) early date, prose, deal with known historical figures but often contain incredible episodes; B) late date (post-Black Death), verse, deal with people who can't be proven to have existed but are generally very plausible. The tales of Hereward, Fouke FitzWaryn and Eustace the Monk fall into the first category, those of Robin Hood, Gamelyn and Adam Bell into the second.

However, the doubtful ones tend to appear only in one ballad, or only in one *original* ballad plus others clearly derived from it. The Robin Hood ballad cycle is different, having no clear common literary origin: I'm not aware of any comparable cycle about a character who was or might have been invented in the High or Late Middle Ages. On the other hand, we don't know how many ballads have been lost: there appears to have been a cycle about George a-Green, of which his encounter with Robin in "The Jolly Pinner of Wakefield" is the only surviving part, and there's no evidence that George existed. (Robert Greene set his play about George, complete with Robin, in the reign of Edward IV: did he have any specific reason for this? Later versions of the story push it back to the reign of Richard I.)