As I recall, it was originally written by one person (Ricardo Garcia) in 2008 and worked only on YouTube using (by later standards) relatively simple heuristics to find the URL to extract the video. But it's catalyzed an explosion of interest in every aspect of the problem: tracking changes to the HTML of the video sites, adding support for more video sites, figuring out indirection and parsing through multiple pages and HTML objects, making the tool much more multiplatform and easier to install and update...
It's attracted hundreds of contributors (many of them motivated by a personal desire to be able to use the tool on a different site, or to fix a bug that was preventing them from downloading video in a particular rare case) and maintained an incredibly rapid pace of development.