Full context:   According to Schmithausen, the four truths were superseded by pratityasamutpada, and still later, in the Hinayana schools, by the doctrine of the non-existence of a substantial self or person. Schmithausen further states that still other descriptions of this "liberating insight" exist in the Buddhist canon: "that the five Skandhas are impermanent, disagreeable, and neither the Self nor belonging to oneself";[note 34] "the contemplation of the arising and disappearance (udayabbaya) of the five Skandhas";[note 35] "the realisation of the Skandhas as empty (rittaka), vain (tucchaka) and without any pith or substance (asaraka).[note 36]