The Shramanic Period between 800 and 200 BCE marks a "turning point between the Vedic Hinduism and Puranic Hinduism". The Shramana movement, an ancient Indian religious movement parallel to but separate from Vedic tradition, often defied many of the Vedic and Upanishadic concepts of soul (Atman) and the ultimate reality (Brahman). In 6th century BCE, the Shramnic movement matured into Jainism and Buddhism and was responsible for the schism of Indian religions into two main philosophical branches of astika, which venerates Veda (e.g., six orthodox schools of Hinduism) and nastika (e.g., Buddhism, Jainism, Charvaka, etc.). However, both branches shared the related concepts of Yoga, "saṃsāra" (the cycle of birth and death) and "moksha" (liberation from that cycle).