Yes. We learn from our Lord's own words that Judas was guilty. Matthew 26:24 and Mark 14:21 both state, “The Son of Man will go just as it is written about him. But woe to that man who betrays the Son of Man! It would be better for him if he had not been born.” Matthew adds (verse 25), “Then Judas, the one who would betray him, said, ‘Surely, not I, Rabbi?’ Jesus answered, ‘Yes, it is you.’ ”
Apparently Judas had played the part of a good disciple, and when our Lord first announced that someone would betray Him, none of the other disciples seemed to suspect Judas. Each gospel records their surprise and confusion. (Matthew 26:21,22; Mark 14:18,19; Luke 22:22,23; and John 13:21,22)
Matthew 26:24 (quoted earlier) tells us two things: 1) Jesus knew he would be betrayed and by whom. 2) He warns the potential evildoer about the dire consequences and gives him a chance to change his mind. Verse 25 shows the deceitfulness of Judas, who continues to play the part of an innocent disciple.
Yes, Judas repented when he saw Jesus was condemned, and he even attempted to return the 30 pieces of silver (Matthew 27:3-5). Maybe Judas wanted Jesus to be “only” arrested and humiliated, not sentenced to death. (We know Jesus had warned his disciples of His impending death, but “they did not understand what he meant…”