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warning:
currently, user prompt is NOT used at Generate stage -> it actually triggers a new Plan, since we do not know if user's prompt can be handled at all with the current planned agents.
BUT if we could handle user prompts at the Generate stage, then this issue could be implemented.
When building agent, also set its memory.
memory needs to be filtered to relevant messages.
- assistant: only its own output
- user: the rewritten user prompts
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