What genus did Australopithecus split from?

From the abstract: The origin of Australopithecus, the genus widely interpreted as ancestral to Homo, is a central problem in human evolutionary studies. Australopithecus species differ markedly from extant African apes and candidate ancestral hominids such as Ardipithecus, Orrorin and Sahelanthropus. read more

Thus, the genus Homo either split off from the genus Australopithecus at an earlier date (the latest common ancestor being either A. afarensis or an even earlier form, possibly Kenyanthropus), or both developed from a yet possibly unknown common ancestor independently. read more