Those whose passion, fear and anger have departed, who are made of Me, knowers of Brahman who see no difference from the Lord, who have taken refuge in Me alone, the supreme Lord, who are steadfast in knowledge alone: many of them, purified by the austerity of knowledge, knowledge itself being the austerity whose object is the supreme Self, having reached the supreme purity, have come to My state, the state of the Lord, liberation. The phrase 'by the austerity of knowledge' is the mark that their steadfastness is in knowledge independent of any other austerity. Then You must have passion and aversion, since You grant Your own state to some and not to all. To this He says.

Purified by the austerity called the true knowledge of My birth and deeds, many have become thus. And so the revealed text says, 'the steady know rightly His origin'. The steady, the foremost among the wise, alone know the manner of His birth. This is the meaning. Not only do I deliver, by descending in the form of a god, a man, and the rest, those who look to taking refuge in Me; rather.

This is a brief sub-gloss. For a fuller reading of this verse, see Madhusūdana, Śaṅkara, or Rāmānuja above.

And there are those released in that way, Krishna says, with 'free of passion'. 'Filled with Me' (manmaya) means abounding in Me; the sense is that they see nothing anywhere apart from Me.