The Vedic literature grouped into these four (Rig, Sama, Atharva and Yajur) collections - each under a different name - has four more branches - the Mantras, the Brahmanas, the Aranyakas and the Upanishads.
The Mantra texts are also called Samhitas (Collections); all sacred formulae (mantras) are grouped together. The texts, which describe the means and methods of utilizing them and benefiting by their proper recital, are known as Brahmanas. The word Brahma has many meanings. In the expression Brahmanas, it means Mantra. The Brahmanas deal mostly with ceremonial and kindred external activities. The Aranyakas, however, deal with the inner significance and internal disciplines like withdrawal of senses and elimination of attachments.
The Upanishads attempt, by philosophical analysis, to harmonize the two paths. They form the final phase of Vedic studies, and are called Vedanta. They can be considered as even the essence of Vedic teachings.
(Vidya Vahini, pg 2 - 3)