Did Judas do what Jesus asked of him or act on his own?

I will assume that the act of Judas which is in question is his being guide to them that took Jesus. (Acts 1:16)

As a rule, Jesus was a commander of The Twelve.

Here is an example of Jesus commanding them:

“These twelve Jesus sent forth, and commanded them, saying, ‘Go not into the way of the Gentiles, and into any city of the Samaritans, enter ye not; but go rather to the lost sheep of the house of Israel. And as ye go, preach, saying, The kingdom of heaven is at hand. Heal the sick, cleanse the lepers, raise the dead, cast out devils; freely ye have received, freely give.’” (Matthew 10:5-8)

Although Jesus elicited behavior from others by means other than by commanding them, he never asked anybody to do anything.

In particular, Jesus never asked Judas to be guide to them that took him.

No, Jesus elicited that behavior from Judas, first, by showing him that the act was necessary, and, second, by telling him that he chose him to do the thing.

In the end, Jesus neither asked nor commanded Judas to do the thing, but he showed Judas that, if he would come after him, he would have to do the thing to follow him, because he chose him to do it.

In the end, Judas became guide to them that took Jesus, because he chose to follow Jesus—to cooperate with him as he lay down his life.

Serving as guide to them that took Jesus was the cross which Judas had to take up in order to follow Jesus.

Jesus orchestrated. Judas performed.