Ok so doing a keep fight just recently (I have played Mount And Blade for some time but only just realized something awesome) and that awesome thing is. when in the castle keep, you can do it even out of battle, try in Khudan. go to a corner that has barrels in / a chest in. jump onto it with and face your back to the corner so you are looking at rest of room and walk back into corner. BAM! teleports you above onto the walk way. so awesome 