The author provides a translation and interpretation of Vasubandhu’s basic works. He shows that Yogacara metaphysics is essentially the same as early Buddhism. He argues that Yogacara writings can be interpreted in terms realistic pluralism, and challenges the traditional interpretation of them in terms idealistic monism. His translation is true to the original, his arguments are consistent and convincing, and his presentation is clear and readable. The texts translated and interpreted are (i) Madhyanta-vibhago-karika-bhasya, (ii) Trisvabhava-nirdesa, (iii) Trimsatika and (iv) Vimsatika. These texts can be summarized as follows: The doctrine of experience is described by the author. It consists in being forced to see oneself as the grasper, the enjoyer and the knower (jnatr), of all beings. The graspable (grahya), enjoyable (bhojya), and knowable (jneya) are the result. Mentally, it is difficult to distinguish between the subject and object, grasper and graspable, enjoyer and enjoyable …”.