Elaborating on the self-realized soul, Kṛṣṇa says that such a person has nothing to gain by performing their duty and nothing to lose by skipping it. They are completely independent of all other living beings for their happiness or survival. A liberated soul is like a person who has already arrived at their destination; they don’t need the map or the vehicle anymore. They don’t follow rules out of fear of punishment or hope for reward. They are truly free. They don’t rely on anyone else for their internal sense of peace. Kṛṣṇa mentions this state to show Arjuna the ultimate result of Yoga. But the implication remains that Arjuna is currently dependent on his relatives and his status for his happiness. Since he is not yet at this stage of total independence, he must stay on the path of regulated duty to reach it. True freedom is earned through disciplined action.