Robin Milner made three major contributions to computer science: developing LCF for automated theorem proving, creating ML which was the first language with polymorphic type inference and type-safe exception handling, and developing frameworks for analyzing concurrent systems like CCS and the pi-calculus. The lecture discusses polymorphism, with control abstraction through higher-order functions and polymorphic type systems covered. Polymorphism allows values of different types to be handled through a uniform interface.