It places the hominins "front and center" in the history of early human evolution, explained the researchers.
They thrived across the world. Locations where remains have been discovered include Russia, Australia, Namibia and China.
The finding is based on limb bones from 167 prehistoric adults who lived either before or after humans began growing their own crops.
All birds are dinosaurs - but not all dinosaurs are birds. A small group evolved into birds. They coexisted for 90 million years.
"Many of the fossils we are finding are new to science and include trapdoor spiders, giant cicadas, wasps and a variety of fish."