Was there any form of public schooling for children in the High Roman Empire?

by IAmTotallyNotSatan

Hi! I was wondering if there was any form of public schooling – not like full-fledged universities, more like something akin to modern-day elementary/middle/high schools. Or was it all private? Overall, how was the schooling system in the early Imperial period structured?

slightly_offtopic

There is always more to be said, but while waiting for new answers, you might be interested in this thread with an excellent overview of Roman education by /u/Celebreth