The Hatha-yoga corpus of texts unequivocally proclaims that the goal of yoga is the union of atman with paramatman. Academics tend to de-emphasize this aspect.

Sage Dattatreya divides yoga into mantrayoga, layayoga, hathayoga and rajayoga. Hathayoga is further divided into the yoga of munis and siddhas.

Amritasiddhi makes pioneering advancement in our understanding of the origins of Hatha Yoga.