Sāṅkhya-Yoga liberations resembles Jain enlightenment (mokṣa), in the sense of release from all physical bonds.
As a dualistic philosophy, sāṅkhya-Yoga avoids the extreme view of saying that all of existence is only in our minds (unlike with monistic all-in-one philosophy). Although the physical world is as we see it, we nonetheless need to engage in yoga in order to perceive the spirit that is hidden within it.
According to yogic theory, our inner organ of perception (mind or spirit) is originally pure sattva. But in everyday life in the world (Prakṛti), the mind becomes mixed with rajas and tamas, which clouds our perception.
So, in order to see reality as it really is, we need to restore our mind to a more sattvic state of spiritual purity. We can do that through yogic practices.
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