Acharya Prashant explains that the concept of emptiness arises when the mind is filled with the world and perceives it as meaningful. When one realizes that the value of worldly things is actually zero, the mind naturally lets go of its attachments, leading to a state of emptiness and relief from burdens. He describes non-duality as the remedy for the mind's natural tendency toward duality, which is characterized by division, separation, and the feeling of being incomplete. This dualistic mindset is the root cause of suffering, and non-duality is taught to liberate individuals from this pain. The speaker clarifies that emptiness and non-duality are closely related; a mind filled by duality becomes burdened, and emptying that mind of its weight is the realization of emptiness.