The concerto originated as a genre of vocal music in the late 16th century, with instrumental variants appearing around a century later as Italians, including Giuseppe Torelli, began to publish their compositions. A few decades later, Venetian composers, such as Antonio Vivaldi, had written hundreds of violin concertos, while also producing solo concertos for other instruments such as a cello or a woodwind instrument, and concerti grossi for a group of soloists. The first keyboard concertos, such as Handel's organ concertos and Bach's harpsichord concertos were written around the same time.