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Free from pride and delusion, victorious over the evil of attachment, dwelling constantly in the Self, their desires having completely turned away, freed from the pairs of opposites known as pleasure and pain, the undeluded reach the eternal goal.

Free of pride and delusion, having conquered the fault of attachment, ever dwelling on the inner self, with desires turned away, released from the pairs of opposites known as pleasure and pain, the undeluded reach that imperishable state.

Here Krishna describes those who actually reach the imperishable state. The list is ethical and inward: no pride or delusion, attachment overcome, attention fixed on the inner self, desires stilled, and freedom from the pairs of opposites such as pleasure and pain. These are qualities Arjuna has heard about throughout the dialogue, gathered into a single portrait. Calling such people undeluded links the goal not to some special ritual but to clarity of vision, which is the theme the rest of the chapter develops.