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During the Gupta period (4th to 5th centuries), a movement of northern Mahāyāna Buddhism termed Yogācāra began to be systematized with the writings of the Buddhist scholars Asanga and Vasubandhu. Yogācāra Buddhism received the name as it provided a "yoga," a systematic framework for engaging in the practices that lead through the path of the bodhisattva towards awakening and full Buddhahood.[169] Its teachings can be found in the comprehensive and encyclopedic work, the Yogācārabhūmi-Śāstra (Treatise on the Foundation for Yoga Practitioners), which was also translated into Tibetan and Chinese and thus exerted a profound influence on the East Asian Buddhist and Tibetan Buddhist traditions.[170] According to Mallinson and Singleton, the study of Yogācāra Buddhism is essential for the understanding of yoga's early history, and its teachings influenced the text of the Pātañjalayogaśāstra.[171]

Pre-philosophical speculations of yoga begin to emerge in the texts of c. 500 – c. 200 BCE. Between 200 BCE and 500 CE, philosophical schools of Hinduism, Buddhism, and Jainism were taking form and a coherent philosophical system of yoga began to emerge.[49] The Middle Ages saw the development of many satellite traditions of yoga. Yoga came to the attention of an educated western public in the mid 19th century along with other topics of Indian philosophy.
An influential text which teaches yoga from an Advaita perspective of nondualistic idealism is the Yoga-Vāsiṣṭha.[263] This work uses numerous short stories and anecdotes to illustrate its main ideas. It teaches seven stages or bhumis of yogic practice. It was a major reference for medieval Advaita Vedanta yoga scholars and before the 12th century, it was one of the most popular texts on Hindu yoga.[264]
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