Developmental Milestones Punctuate Gene Expression in the Caenorhabditis Embryo
http://www.cell.com/developmental-cell/abstract/S1534-5807%2812%2900142-6
Michal Levin, Tamar Hashimshony, Florian Wagner, and Itai Yanai.
Developmental milestones punctuate gene expression in the
Caenorhabditis embryo. Developmental Cell (May 2012)
Nice disussion of the phylotypic stage .
Figure 4S-E have stage mapping between dmel and celegans