Fossils from the early Cambrian bear a striking resemblance to the velvet worms. These fossils, known as the lobopods, were marine. They were a clade from which arthropods, tardigrades, and Onychophora arose.&lt;ref name="Cite doi|10.1038/nature13576"&gt;&lt;/ref&gt; They are found in the Cambrian, Ordovician (possibly), Silurian, and Pennsylvanian periods.
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