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Throughout history, primitive peoples have made use of caves. The earliest human fossils found in caves come from a series of caves near Krugersdorp and Mokopane in South Africa. The cave sites of Sterkfontein, Swartkrans, Kromdraai B, Drimolen, Malapa, Cooper’s D, Gladysvale, Gondolin and Makapansgat have yielded a range of early human species dating back to between three and one million years ago, including Australopithecus africanus, 7Australopithecus sediba and Paranthropus robustus. However, it is not generally thought that these early humans were living in the caves, but that they were brought into the caves by carnivores that had killed them.[citation needed]

The first early hominid ever found in Africa, the Taung Child in 1924, was also thought for many years to come from a cave, where it had been deposited after being preyed upon by an eagle. However, this is now debated. Caves do form in the dolomite of the Ghaap Plateau, including the Early, Middle and Later Stone Age site of Wonderwerk Cave; however, the caves that form along the escarpment’s edge, like that hypothesised for the Taung Child, are formed within a secondary limestone deposit called tufa. There is numerous evidence for other early human species inhabiting caves from at least one million years ago in different parts of the world, including Homo erectus in China at Zhoukoudian, Homo rhodesiensis in South Africa at the Cave of Hearths (Makapansgat), Homo neandertalensis and Homo heidelbergensis in Europe at Archaeological Site of Atapuerca, Homo floresiensis in Indonesia, and the Denisovans in southern Siberia.

In southern Africa, early modern humans regularly used sea caves as shelter starting about 180,000 years ago when they learned to exploit the sea for the first time. The oldest known site is PP13B at Pinnacle Point. This may have allowed rapid expansion of humans out of Africa and colonization of areas of the world such as Australia by 60–50,000 years ago. Throughout southern Africa, Australia, and Europe, early modern humans used caves and rock shelters as sites for rock art, such as those at Giants Castle. Caves such as the yaodong in China were used for shelter; other caves were used for burials (such as rock-cut tombs), or as religious sites (such as Buddhist caves). Among the known sacred caves are China’s Cave of a Thousand Buddhas and the sacred caves of Crete.

As technology progressed, humans and other hominids began constructing their own dwellings. Buildings such as huts and longhouses have been used for living since the late Neolithic.