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16.22Krishna
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एतैर्विमुक्तः कौन्तेय तमोद्वारैस्त्रिभिर्नरः ।आचरत्यात्मनः श्रेयस्ततो याति परां गतिम् ॥

etair vimuktaḥ kaunteya tamodvārais tribhir naraḥ |ācaraty ātmanaḥ śreyas tato yāti parāṃ gatim ||

एतैः · etaiḥ
from these
विमुक्तः · vimuktaḥ
freed
कौन्तेय · kaunteya
O son of Kunti
तमोद्वारैः · tamodvāraiḥ
from the gates of darkness
त्रिभिः · tribhiḥ
three
नरः · naraḥ
a person
आचरति · ācarati
practices, does
श्रेयः · śreyaḥ
what is truly good
ततः · tataḥ
then
याति · yāti
reaches
पराम् · parām
supreme
गतिम् · gatim
goal

Freed from these three gates of darkness, O Kaunteya, a person pursues what is truly good for the self — and then reaches the highest goal.

Original plain-language translation

Freedom is not emptiness but redirection: released energy turns toward shreyas, the real good (first distinguished from the merely pleasant in 2.7's spirit). The path upward is open to whoever drops the trio. Hope returns after the warnings.

Reader's notes (original)