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When a man is not attached to the sense-objects or to actions, having renounced all thoughts, then he is said to have attained to Yoga.

When a person no longer clings to the objects of the senses or to actions, and has renounced all self-willed intentions, then he is said to have climbed to yoga.

Krishna defines the one who has climbed to yoga, the yogārūḍha. Such a person no longer clings to sense objects and no longer clings to actions themselves. Above all, they have renounced every self-willed intention. The verse makes the measure of progress inward. It is not how much one does or avoids, but whether attachment still drives the mind. This definition prepares for the practical instructions on meditation later in the chapter, which assume this inner letting go as their ground.