Krishna explicitly defines the exact criteria for reaching the summit mentioned in Verse 3. He declares: When a person (yadā hi) is no longer attached or clinging to the objects of the senses (nendriyārtheṣu), and is no longer attached to worldly actions and their fruits (na karmasv anuṣajjate). Furthermore, when that person has completely renounced all selfish, calculating desires and plotting (sarva-saṅkalpa-sannyāsī). It is exactly then (tadocyate) that a person is declared to be 'Yogārūḍha' (elevated and firmly established on the summit of Yoga).