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Radially symmetric animals are the cnidarians, including jellyfish, corals, and anemones, and ctenophores, or comb jellies.
Bilaterally symmetric animals (which include all vertebrates) are further divided based on types of body cavities and variations on the pattern of gastrula formation during development.
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Some animals (including all mammals) develop and mature directly into adults but the development of most animals includes larval stages.
Larvae are immature forms that are morphologically distinct from adults.
This incredible diversity of animal body plans and lifestyles arose in the relatively short period of 40 million years, between 565 and 525 million years ago.
All of today's remarkably diverse animal forms are variations on the basic body plans that evolved during the Cambrian.