Kṛṣṇa defines the characteristics of a person who has attained the summit of yoga, the ‘Yogārūḍha’. Such a person is attached neither to sense objects nor to the actions themselves. They have reached a state of profound internal neutrality and independence. They are a ‘sarva-saṅkalpa-sannyāsī’, someone who has renounced all material plans and fantasies. Most people are constantly ‘imaging’ their future happiness—if I get this, I’ll be happy. The advanced yogī has stopped this mental noise. They are not looking for the next ‘thing’ to fulfill them because they are already full from within. This is the goal Kṛṣṇa is pointing toward. A person who is ‘elevated in yoga’ can act in the world with total intensity because they are not worried about the result. Their peace is not a fragile thing that can be broken by circumstances; it is an unshakeable foundation. Arjuna is being invited to aim for this absolute mental sovereignty.