Àsurās, Dàityās, Dānavas and Rākshas

All the species in the world are born from Rişi Kàshyapa and his wives.

The son of Sri Brahma ji Kashyapa ji is a Sàptarişi. According to Vishnū Pūrān he married thirteen daughters of Prajapatī.
They were Aditi, Diti, Kadru, Danu, Arishta, Surasa, Surabhi, Vinata, Tamra, Krodhavasa, Ida, Khasa and Muni.

From these wives took birth different species, humans and humanoids.
From Ādīti were borns twelve sobs called the "Āditays", Aṃśa, Aryaman, Bhaga, Dhūti, Mitra, Pūṣan, Śakra, Savitṛ, Tvaṣṭṛ, Varuṇa, Viṣṇu, and Vivasvat or Vivasvan.
From Dīti were born the "Dàityās" Hiranyakashipu and Hiranyaksha and a daughter Sinhika.
Danu gave birth to Dānvās.
Other were Nāgās, Garūdas, Apsarās etc.
Now coming to the point differentiating them, i.e, Àsūra, Dàitya, Dānav, Rākshas.
Àsūra as the name suggests is basically a trait, like anyone who hates Sūra.
सुरान् क्षिपती इति असुर:।

One who hates the Sūras.
Anyone can be an Àsūra a Dàitya, Dānav, even a Human.
A Dàitya is a species, born from Dīti. Hiranyakashyapū and Hiranyăksha being the first. Hiranyakashyapū whose son was Pràhlād (who was also a Dàitya (but not a Àsūra like his father and uncle).
Dānava similarly are a species born from Danū. Dūndubhi, Māya, Taraka etc. are a few to name.
Rākashas similarly are a subspecies often considered as Demigods.

Cited at some, they are said to be places to be born out of the breathe of Sri Brahma when they started eating him and he called out to Vīshnū ji saying "Rakshamam."
Counted as cannibals Rākshas are also thought to be tribal species in some places and citations.

The description of Rākshas is described in details in Rāmayana and Rāmopakhyān Pàrva of Mahābharata.
Here too. Rāvana is an Àsūra irrespective of being in the lineage of Sri Brahma is and grandson of Pūltasya Muni.
While Vībhishan wasn't so.
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।।जगदम्ब।।

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