Companion cavalry
The battle is often considered to be a victory of the Roman legion's flexibility over the phalanx's inflexibility. Nevertheless, modern conclusions are that the loss was actually due to a failure of command on the part of Perseus, as well as the peculiar stance of the Companion cavalry, who did not engage the enemy. From the case of the 3,000 Agema peltasts, who maintained cohesion far longer than the regular phalanx, it may be concluded that the training levels of the troops involved played an important role in determining both the frontal strength of the pike phalanx and the success of infantry trying to break through the pike wall.