The recent detections of extrasolar giant planets has revealed a surprising diversity of planetary system architectures, with many very unlike our Solar System. Understanding the origin of this diversity requires multi-wavelength studies of the structure and evolution of the protoplanetary disks that surround young stars. Radio astronomy and the Square Kilometer Array will play a unique role in these studies by imaging thermal dust emission in a representative sample of protoplanetary disks at unprecedented sub-AU scales in the innermost regions, including the ``habitable zone that lies within a few AU of the central stars. Radio observations will probe the evolution of dust grains up to centimeter-sized ``pebbles, the critical first step in assembling giant planet cores and terrestrial planets, through the wavelength dependence of dust emissivity, which provides a diagnostic of particle size. High resolution images of dust emission will show directly mass concentrations and features in disk surface density related to planet building, in particular the radial gaps opened by tidal interactions between planets and disks, and spiral waves driven by embedded protoplanets. Moreover, because orbital timescales are short in the inner disk, synoptic studies over months and years will show proper motions and allow for the tracking of secular changes in disk structure. SKA imaging of protoplanetary disks will reach into the realm of rocky planets for the first time, and they will help clarify the effects of the formation of giant planets on their terrestrial counterparts.
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