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Arthropod categorized according to existence of larval phase

How are the main groups of arthropods categorized according to the existence of larval phase in their embryonic growth?

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In crustaceans, there are species with direct and others with indirect development. In insects there are species without larval phase (ametabolic insects), others undergoing indirect development starting with an egg stage followed through a nymph stage (hemimetabolic insects) and others with indirect development starting with the larval phase (holometabolic insects).The transformation of a larva into an adult individual is termed as metamorphosis. Hemimetabolic insects undergo incomplete metamorphosis whereas holometabolic insects endure complete metamorphosis.

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