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''Anumana'' or inference is based on sound reasoning, when you know out of your experience, and logic which can not go wrong. For example when you see smoke, you know there is fire.
''Agama'' or testimony is reliable sources which is either documented or heard by people you can trust. But mostly in written forms, i. In e. scriptures. Also in yoga, the authority is called a guru, a real guru regarded by thousands across the globe. For example; Swami Vivekananda, B.K.S. Iyengar.
