Actually the Romans did have a General Staff with a fore-sighted eye on survival and it was called 'the Senate.' Additionally, they had two War Colleges, and these were called 'the School of Hard Knocks, and 'the Battle Field.' Also with their homestead in the middle of a very bad neighborhood, their Senate's abstract method of tactical development was called, 'adapt or die.' Otherwise the Romans developed very little themselves, instead they took nearly everything they had from others, even the concept of single combat. One may want to look more at the move to medium and light infantry to combat Hellenistic type heavy infantry, as well.
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