BG Chap 16 - The asuras do not get liberated
The foolish demons, failing to achieve the Supreme Lord, descend to the lower forms of life like dogs. There is certainly no possibility for them to get Kṛṣṇa’s mercy. Baladeva Vidyabhusana writes that a good birth suitable for practicing to attain the Lord is very rare. The Chāndogya Upaniṣad says that those of bad conduct attain low births such as dogs, pigs and caṇḍālas. But since the Lord has all His desires fulfilled automatically, and thus could make the unqualified as qualified, He still does not do so. Anything is possible for the Lord but He does not have that desire, since there is no good reason for Him to do that. The Vedānta confirms that there is no prejudice or hatred in the Lord. Since the asuras do not accept the regulations of scriptures, and have no desire to get out of material existence, they are shown to be constant inhabitants of hell.