Sixty-six million years ago, an asteroid wiped out the dinosaurs in a fiery global catastrophe. But we know little about how their successors, the mammals, recovered and took over the world. Now, hidden inside ordinary-looking rocks, an astonishing trove of fossils reveals a dramatic new picture of how rat-sized creatures ballooned in size and began to evolve into the vast array of species—from cheetahs to bats to whales to humans—that rule our planet today. (Airs August 5 at 9 pm on PBS)