In this paper:

The delayed rise of present-day mammals.

Bininda-Emonds OR, Cardillo M, Jones KE, MacPhee RD, Beck RM, Grenyer R, Price SA, Vos RA, Gittleman JL, Purvis A.

Nature. 2007 Mar 29;446(7135):507-12.

PMID: 17392779

There is a beautiful tree of mammalian evolution, with monotremes and marsupials as "outgroup".

https://lh4.googleusercontent.com/-dW3il_Qw3jg/Ug6Y08JL3_I/AAAAAAAAA9s/NTT7H8bfZgg/w1499-h1253-no/MammalsTreeJPG.jpg

The tree figure seems to indicate that there were just 3 lineages that survived from a common ancestor some 160 million years ago, until mammals, marsupials and monotremes each began to diverge into present-day species some 80 million years ago.

Does this seem correct? How solid are these dates?

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