It's difficult to know what you are looking for without a minimal reproducible example . But maybe you are looking for bookdown::html_document2
output.
Try the following:
---
title: "Example Document"
author: "Your name here"
output:
bookdown::html_document2
---
```{r cars, fig.cap = "plot"} # Figure with caption
plot(cars)
```
```{r cars3, fig.cap = ""} # Figure without caption
plot(cars)
```
This is the output of the above:
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