Yup, even though she has writing credit, I seem to recall that it was Interscope's idea to put an "Undone"-like song on Listen Up! which 'forced' her into a place she wasn't comfortable with, requiring help to complete it.
At the 2nd private party, during the break, Rachel told us that she saw that Undone was on the set list. I was hoping that Haley would do it, since I wasn't able to record the first time I'd heard her sing it live.
When they came back from the break, Haley told us that she got a request to sing "Night and Day", which wasn't on the set list. We eventually noticed that Undone was skipped over, possibly for "Night and Day"... so when it came to the final songs, people from the crowd started yelling out "Undone" ('people' as in, not only the Haliens who were there)... even then, Haley hemmed and hawed, looked over to Keith who nodded back to her, asked if it was OK? I think it was Harry that finally said they would do it....
(I believe the hosts helped put together the set list, they asked them to do "Can't Find My Way Home", so "Undone" might have been on the set list, per their request)