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They evolved from a branch of reptiles known as the diapsids (for the two open areas in their skulls); those, as well as all other reptiles, evolved from amphibians, and the amphibians from bony fish. As each step goes further into the past, the uncertainty of the specific ancestors increases, but the fish may have evolved from crawling creatures on the bottom of the seas similar to the arthropods. Anthropods probably evolved from worms and worms from simpler forms similar to cnidarians. These had no hard anatomy and left few if any fossils, but it's presumed that the lineage eventually finds its way back to single-celled creatures.

Incidentally, the division in the Reptiles that produced the dinosaurs (the diapsids) also produced the synapsids, a branch that eventually led to humans.

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