A yogi who still has desires for the world needs to perform action dedicated to a higher cause. Then existing desires get exhausted. Since the attention is on the higher the action does not rebound as more desire. This is Karma Yoga. 

When we perform karma yoga, it leads to the purification of the mind and the ripening of spiritual knowledge. But once the mind has been purified and we advance in Yoga, then we can leave karma yoga and take to karma sanyās. Material activities now serve no purpose and meditation now becomes the means. 

The mind now no longer gushes into self-centered activities at the urge of the senses. When we achieve this level of mastery over the mind, we will be considered elevated in Yoga.
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