This report presents conceptual frameworks for inclusive learning, good practices in learning cities and recommendations for the future. The COVID-19 pandemic has had an enormous impact on life in cities, as well as exposing and exacerbating almost all forms of inequality. Access to high-calibre, resilient infrastructure, reliable basic services and decent jobs must be provided to all urban and rural dwellers. Achieving this means ensuring learning opportunities in cities are of high quality, inclusive of the diverse backgrounds of all learners and offered on a continuous basis throughout life. This publication features chapters on learning cities' endeavours to promote inclusive lifelong learning for vulnerable groups. It is based on research papers prepared for the fourth International Conference on Learning Cities, which took place in 2019 in Medellín, Colombia, under the theme 'Inclusion -- A principle for lifelong learning and sustainable cities' and hence marks a transition between the learning city conferences of 2019 and 2021. Though the examples included in the publication were in place before the pandemic took hold, they show how populations that were made even more vulnerable by the pandemic can be effectively targeted by lifelong learning opportunities.