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Long before vertebrates walked on land, millipedes had the place to themselves.

Hundreds of millions of years before dinosaurs arrived, these early decomposers were helping establish Earth's terrestrial ecosystems. But despite their ancient history, scientists still hadn't fully unraveled their evolutionary story.

Now, a Virginia Tech-led team of international scientists has solved one of the last major mysteries in millipede evolution, revealing new clues about a group of animals that helped pave the way for life on land.

The findings, published in Current Biology, complete the first evolutionary history of all living millipede orders. By combining genomic data from living species with morphological evidence from fossils, researchers traced the group's origins to nearly 460 million years ago — suggesting millipedes may have been present long before the oldest known millipede fossils.