Agrippina the Younger

Agrippina the Younger, is daughter of Agrippina the Elder and Germanicus. Her father, Germanicus was a Stark guardsman that was killed in 281 AC during Robert's Rebellion. She is a servant of House Stark. Agrippina is also the lover of Arthur Stark, second son of Lord Eddard Stark and Lady Catelyn Tully. According to Sansa Stark, Agrippina is, "ambitious while being renowned for her physical beautiful." She have tow sisters, Drusilla and Livilla.

Notes:
She is named for the historical Roman woman of the same name: https://en.wikipedia.org/wiki/Agrippina_the_Younger and her likely is based on the actress, Teressa Liane who played her in the Netflix's series, Roman Empire.