एतैर्विमुक्तः कौन्तेय तमोद्वारैस्त्रिभिर्नरः। आचरत्यात्मनः श्रेयस्ततो याति परां गतिम् ॥

etair vimuktaḥ kaunteya tamo-dvārais tribhir naraḥ ācharaty ātmanaḥ śhreyas tato yāti parāṁ gatim

A man liberated from these three gates of darkness, O son of Kunti, accomplisheth his own welfare, and thus reacheth the highest goal.

In plain words: A person who has escaped these three doors of darkness, Arjuna, does what is truly good for himself and reaches the highest goal.