I took this from Josephus account of the seige of Jerusalem.
During a combat at range with javelins, Longinus, a cavalryman, leaped out from the Roman lines and charged the mass of the enemy. He killed one, pulled his spear out, stabbed another in the side, and then made his way safely back to his comrades. Others subsequently emulated his deed. On one occasion a Jew challenged any Roman who dared. Pudens, another cavalryman, answered the challenge but tripped during the fight, and the Jewish challenger killed him, only to be shot down in the act of vaunting over the body by a Roman centurion with a bow.
In Josephus' account, reckless bravery was primarily the province of the Roman army's auxiliary soldiers. Pudens was certainly an auxiliary; Longinus probably was also. During a Jewish sally, an exceptionally strong auxiliary cavalryman reached down from his saddle, grabbed a fleeing enemy by the ankle, and then bore his armored captive off just as he was to be admired by Titus.
Seems to me that the Romans(auxillia) didnt allways pass up the chance of single combat.
Titus fumed and ranted -- "among the Romans even victory without orders is a disgrace!" Josephus has him insist. He terrified the disobedient soldiers by threatening the horrible penalty for fighting without orders: death. But then Titus allowed the pleas of the legions to soften his anger, and no one was punished. Like Vespasian at Gamala, Titus contented himself with a lecture. At the climax of the siege, he would have reason to rejoice that he did not bloodily stamp out his soldiers' initiative.
titus says "its a disgrace to win without orders" thats the Roman mindset,Its all about the Glory and Honour for the Commanders.
L