Vaisesika Sūtra 1.1.4

dharma-viśeṣa-prasūtāt dravya-guṇa-karma-sāmānya-viśeṣa-samavāyānāṁ padārthānāṁ sādharmya-vaidharmyābhyāṁ tattva-jñānāt niḥśreyasam ॥4॥

From specific dharma arises knowledge of the true nature of the categories—substance, quality, action, generality, particularity, and inherence—through similarity and dissimilarity; from this knowledge comes liberation.

Born from the special characteristics of DHARMA, 'padarthas' i.e. those represented by words' meanings, based on their underlying common and differentiated DHARMAS can be classified as substance (dravya), qualities (guṇa), duties (karma), generality (sāmānya), particularity (viśēṣa), and inherence (samavāyā). Knowledge of their true principles is productive of ultimate good.