Sure he did. This is not rocket science. It would have taken all of ten seconds to get in the window. And if the rock crashing through the window had not attracted attention, there'd be a reasonable surmise that suspicion was not there to be attracted.
This is far, far better than being out in the open on the deck - a deck which is fully exposed to the road, and lit by a street light. At least at Filomena's window if Rudy had been spotted, he could simply jump down into the darkness below where there is plenty of cover.
Second storey people know the risks.... the problem with the talk about the break-in, from both sides, is that we are analysing to death what Rudy would have done by instinct, knowing that there's always the possibility of getting caught.
He would have broken the window with the rock, taken a brief look around, and been up and in the window before any of us are finished typing our own speculations here.....