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I don't know if any more behavior improvements have been made, but Silverstag is the spiritual successor to Floris. It does alter some of the base game, though, but there could be some improvements, there.
If you want to strictly play native, you can try this: http://www.nexusmods.com/mountandblade/mods/3784/? (Formations and AI) It's often bundled in mods/modpacks, in some form, with PreBattleOrders and Deployment. (Or, maybe they've merged, now? Dunno.) It makes battles significantly more realistic in the way they unfold, IMO, where I've seen it used. You can look around for mods that mention that they include a version of it if you're wanting a different setting or a complete conversion. I'm sure that many do. However, I am also sure that some don't get the merge right and funky behavior can result, either due to a mistake or due to weapon/unit changes that the AI can't make a lot of sense of.