With the body, mind, intellect or even with the senses alone, yogīs perform actions abandoning attachment, for the purification of the Self.

Instruments of action. Kāyena — with body — manasā — with mind — buddhyā — with intellect — indriyaiḥ — with senses — are levels of instrument.

Kevalaiḥ — alone, pure — indicates that even with senses alone, without intellectual mind, one can act yogically. Ātma-śuddhaye — for purification of the Self — is purpose: action as process of refinement, not as production of external results.