The karmīs are foolish and ignorant, whereas the karma-yogīs are wise and learned. These wise men know that the nature of the material modes and material activities is exactly opposite to that of the soul. For this reason the karma-yogīs never engage in material activities under the modes of material nature, as the karmīs do, but rather perform karma-yoga, which is meant to satisfy Lord Viṣṇu. Such wise men always keep themselves aloof from close association with this phenomenal world, for they aspire to elevate the soul to its original spiritual position. They understand that the soul has come into contact with matter only by a freak arrangement. Therefore, although their ears, eyes, and other senses are involved in this phenomenal world, the sages refrain from material activities. As Lord Kṛṣṇa says in the Bhagavad-gītā (3.28),
One who is in knowledge of the Absolute Truth, O mighty-armed one, does not engage himself in the senses and sense gratification, knowing well the differences between work in devotion and work for fruitive results.
Then in Chapter 3.30-31, Lord Kṛṣṇa describes the means for achieving such a liberated state,
Therefore, O Arjuna, surrendering all your works unto Me, with full knowledge of Me, without desires for profit, with no claims to proprietorship, and free from lethargy, fight. Those persons who execute their duties according to My injunctions and who follow this teaching faithfully, without envy, become free from the bondage of fruitive actions.
Identifying the self with the material body and mind, or thinking that the soul is material, or thinking that everything in relation to the body belongs to oneself—such illusions keep a person ignorant and bereft of self-realization. Therefore Lord Kṛṣṇa advises us to be situated in knowledge of the self. When we become spiritually aware, we can understand that the "I," the self, is not the body or mind; we can realize that we are products of the superior, spiritual energy of the Supreme Lord and hence fully spiritual and eternal. With realization of these transcendental truths comes knowledge of the actual nature of the material energy in its pure form. And when these spiritual realizations gradually mature, one achieves a natural distance from the dualities of material nature. At this stage of spiritual development, the false ego is destroyed, all false identification and titles are removed, and we are liberated from the shackles of the illusory, material energy on the strength of our spiritual association with the Transcendence. No longer does māyā entangle us in material activities.