Asanga (c.300-370 ce) Received many teachings from Maitreya and devoted his life to explicating them. He recorded Maitreya's teachings in five texts, including the Uttaratantrashastra. These works, together with Asanga's commentaries and related works by his half-brother Vasubandhu became foundation texts for the later Yogacara school. He travelled widely, establishing many practice centers, residing at Nalanda for twelve years, he converted many tirthikas. His disciples were beyond number.