Yada Hi Nendriyartheshu

Krishna now draws the portrait of the yogaroodha — the person who has truly arrived. When someone's mind no longer pulls toward sense pleasures, when there is no clinging to the results of any action, when every last selfish resolve has been dropped — that person is called yogaroodha, established in yoga.

This is a quiet state. No craving, no anxiety. Imagine an elder who has seen every season of life — wealth and loss, praise and blame — and now sits peacefully without grasping for anything more. The mind is not restless because there is nothing left to chase. That inner settledness is what Krishna means by yogaroodha.

This follows directly from 6.3. There Krishna said action is the vehicle for the beginner, and tranquility for the established. Here he describes what 'established' actually looks like: freedom from sense-attachment and from the web of sankalpa.

Patanjali's Yoga Sutras define vairagya (dispassion) in a similar way — as the waning of interest in sense objects. This Gita shloka expresses the same idea in different words.