The Upanishads are philosophical commentaries on the Vedas. They are also referred to as Vedanta, the end of the Veda. The original meaning of the word is “the sitting of the pupil at the feet of the teacher”. With the Upanishads, knowledge from directly divine, revealed knowledge(shruti) also ends. Everything that comes later is considered smriti, the knowledge interpreted by humans. The Upanishads form the basis of yoga. The basic doctrine consists of the thesis of the identity of the world soul (Brahman) and the individual soul (Atman). In Vedanta, Brahman is seen as the creator god. The teachings (which are of central importance in yoga) of karma – retribution of deeds, samsara – the cycle of rebirths and moksha – the idea of personal liberation also finally take shape.