Yantra Yoga is a form of yoga characterized by an emphasis on a complex system of mathematics and geometry, which assigns value to the forces that make up the universe. Yantra Yoga comes from the Tibetan Buddhist tradition and is similar to both Hatha Yoga and Chi Gung. It can best be described as ancient movements and postures, breathing exercises, mudras, and meditation techniques that combine to circulate and rejuvenate the body's energy; it is said that this form of Yoga opens up the inner eye, the sixth Chakra: Ajna.
This form of yoga originated in the 8th century CE and taught by Tibetan Buddhist Vairocana. It is considered one of the lesser known forms of Yoga.