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This lecture covers the concept of inheritance in object-oriented programming, distinguishing between 'Is a' and 'Has a' relationships. It explains how subclasses relate to parent classes, using examples of characters like Magicians, Thieves, and Warriors. The lecture also delves into the implementation of instances in class hierarchies, discussing attribute localization and the consequences of slicing. Specialization of methods in robot classes is demonstrated, showcasing different movement strategies in a 2D plane. The lecture concludes with a practical example of class hierarchy in C++, highlighting the importance of understanding class scope and compilation issues.