Yoga in Philosophy

Yet it will appear that...those who stood considerably nearer than we do to the beginning of the human race and the source of organic nature, had also both greater energy of the faculty of knowledge, and a truer disposition of mind, so that they were capable of a purer, more direct comprehension of the inner being of nature, and were thus in a position to satisfy the metaphysical need in a more worthy manner. Thus originated in the primitive ancestors of the Brahmans, the Rishis, the almost superhuman conceptions which were afterwards set down in the Upanishads of the Vedas.

-Schopenhauer, The World as Will and Representation