Philippians 2:6
ESV - 6 Who, though he was in the form of God, did not count equality with God a thing to be grasped.
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If I am understanding correctly what is meant in the question by "self-judgment", I would say that the connection between the two is that humility is a reflection or result of an individual's proper self-judgment with respect to his or her relationships to God and to other people. It is then displayed in concrete actions that are performed not out of condescension or an air of superiority (both of which a proper sense of humility would prevent), but out of a spirit of caring and fellowship toward others. As noted in the question, the Christian's model in this regard is Jesus. Although He was God (and knew Himself to be God), he did not regard that station as something to be selfishly maintained for His own benefit, but instead voluntarily humbled himself -- first by becoming human, and then by undergoing suffering and death on humanity's behalf. Humans with a proper self-judgment will refrain from the types of actions and attitudes spoken of by Jesus in passages such as Matthew 6:1-18 and Luke 18:9-14. I have always found the writings of C. S. Lewis to be very instructive on this subject, particularly the chapter on pride (which is the opposite of humility, and which Lewis called "The Great Sin") in his book Mere Christianity, which can be accessed online at http://www.fellowshipofthemartyrs.com/articles/60-spiritual-tuneup/191-mere-christianity-chapter-8-qthe-great-sinq-cs-lewis-
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