This requires a very long answer, to make a long answer shotish, it was discipline and technology, at the beginning of the Roman Empire they had the most advanced weapons in the world, by the end the rest of the world had caught up. Their troops were very well disciplined too, and they were very heavily armed, but that was used against them by the Visigoths, they encircled the Romans and pushed their flanks together, the Romans hod no room to manuever, no room to fight, they were trying to kill the enemy but they were so close they couldn't even take a full swing or they would have caught their own troops with the tips of their sword.
I think discipline was the deciding factor, they were very well disciplined and that was something few other nations in the world had at the time, maybe the Persains and later the Huns followed by the Visigoths. I foget the name of this thing, but I think it was Cassius who after losing a series of crushing defeats to Spartacus had one in 10 men beat to death by his fellow soldiers, they now knew what would happen if they fled from battle. See, discipline.
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