There you go! Give each of them a different opinion about who he is, and about each other as well.
That might help give you a better idea of how the characters would act and think as well.
Character A: F is a thief! Why are we taking him along?
Character B: If F has stolen, it is only because he is in such desperate needs. He seems like a decent sort.
Character C: Oh, the poor man! It must be so terrible not to be able to speak. What choice does he have, when he can't even offer to work for what he needs?
Character D: Rubbish, you're mollycoddling the dolt. He was probably dropped on his head as a baby. Grew up strong though.
Character E: I sense a strong power within him. We cannot truly judge him without knowing the full truth of the matter.
Character F: ...
Though I wrote that up for amusement value, don't take it seriously.