Let's see....he cheated on you. Loser.
He cheated WHILE you have a baby together. Loser.
He is sleeping with his cousin. Sick Loser.
While he is sleeping with his cousin, he now wants to cheat on her and get back with you. Did I mention "LOSER"?
No, it doesn't mean he's a pedophile but like Krystal said, his moral compass is off. Go with your gut and watch your daughter like a hawk.
Look for behavioral changes after his visits with her. If your gut says "no" than only allow visits while you are present.
And do yourself a favor, go find a new man. You deserve better and so does your daughter. The relationships you have with men are examples that your daughter will learn from. The type of men she will seek as an adult woman will be a reflection on the choices YOU make today. You owe that to her.