Vaisesika Sūtra 10.1.03

तयोर्निष्पत्तिः प्रत्यक्षलैङ्गिकाभ्याम् ॥३॥

tayor niṣpattiḥ pratyakṣa-laiṅgikābhyām ॥3॥

[तयोः (tayoḥ) - of those two; निष्पत्तिः (niṣpattiḥ) - origination; प्रत्यक्ष (pratyakṣa) - direct perception; लैङ्गिकाभ्याम् (laiṅgikābhyām) - and inference;]

Its, i.e. the varied knowledge, origination is from direct perception and inference.