Triṃśikaikā-kārikā Yogacara gives a detailed explanation of the workings of the mind and the way it constructs the reality we experience. Vasubandhu used the concept of the six consciousnesses, on which he elaborated in the Triṃśikaikā-kārikā (Treatise in Thirty Stanzas). According to the traditional interpretation, Vasubandhu states that there are eight consciousnesses: the five sense-consciousnesses, mind (perception), manas (self-consciousness) , and the storehouse-consciousness. According to Kalupahana, this classification of eight consciousnesses is based on a misunderstanding of Vasubandhu's Triṃśikaikā-kārikā by later adherents. Vasubandhu wrote three foundational texts of the Yogācāra: the Treatise on the Three Natures (Sanskrit: Trisvabhāva-nirdeśa, Tib. Rang-bzhin gsum nges-par bstan), the Treatise in Twenty Stanzas (Skt: Viṃśaṭikā-kārikā) and the Treatise in Thirty Stanzas (S: Triṃśikaikā-kārikā).