In Ramayana, king Vali (Bali) was invincible as he had the capability of taking away half of his enemy's strength in any encounter. Even Lord Rama had to kill him from behind. One way to look at this phenomenon is that Vali is a quick learner, he grasps the skills and knowledge from people and situations as he sees the possibility of 𝙋𝙖𝙧𝙖𝙢𝙖𝙩𝙢𝙖 but not of enmity.
Krishna earlier said that all the world is pervaded by HIM (9.4) which indicates that each person or situation is nothing but a facet of 𝙋𝙖𝙧𝙖𝙢𝙖𝙩𝙢𝙖. However, our ignorance about this basic fact prevents us from being a ‘Vali’. Krishna in this regard says, "The ignorant, oblivious of my transcendental nature as the maker of all creatures, discount also my presence within the human form" (9.11). It's not just about being ritualistic or heaping praise upon the Lord, but a deep realisation that HE pervades every human around us whether we like them or not.
Certainly, it is a long journey requiring regular practice with determination (6.23). Ignorance is the low point about which Krishna says, "Of vain hopes, of vain actions, of vain knowledge, senseless, they verily are possessed of the delusive 𝙥𝙧𝙖𝙠𝙧𝙞𝙩𝙞 (nature) of 𝙧𝙖𝙠𝙨𝙖𝙨𝙖𝙨 (fiends) and 𝙖𝙨𝙪𝙧𝙖𝙨 (demons)" (9.12).
The pinnacle of this journey is that of a 𝙈𝙖𝙝𝙖𝙩𝙢𝙖 (great souls) and Krishna says that they possessed of my divine nature, worship Me with unwavering mind, having known Me to be the imperishable source of beings (9.13). Always glorifying Me, striving, firm in vows, prostrating before Me with devotion, ever steadfast, they worship Me (9.14). Worship Me as a manifold facing all directions (9.15).
It's about getting the best out of the situation by dropping hatred while performing 𝙠𝙖𝙧𝙢𝙖𝙨 (actions) at hand (5.3) and the key is prostration to the all pervading 𝙋𝙖𝙧𝙖𝙢𝙖𝙩𝙢𝙖, whatever may be the form.