Bhagavad Gita · Moksha Sannyasa YogaChapter 18, Shloka 66 (18.66)

Shankaracharya. dharmaśabdena atra adharmo 'pi gṛhyate? naiṣkarmyasya vivakṣitatvāt — here the word dharma includes adharma too; saṃnyasya sarvakarmāṇi ity etat — the renunciation of all actions; he quotes Katha 1.2.24 and the Mahabharata.

Acharya Ramanuja. (1) karmayogajñānayogabhaktiyogarūpān sarvān dharmān … kurvāṇa eva … karmakartṛtvādiparityāgena parityajya — while still practising karma, jnana and bhakti yoga, giving up the sense of doership and the rest; eṣa eva sarvadharmāṇāṃ śāstrīyaparityāgaḥ — this is the scriptural giving up of all dharmas. (2) athavā — an alternative reading: to Arjuna, who grieves on seeing how very hard are the dharmas of atonement for the countless sins that obstruct the beginning of bhakti yoga — give up those dharmas of atonement and come for refuge.

Madhvacharya. The clearest reading: dharmatyāgaḥ phalatyāgaḥ, katham anyathā yuddhavidhiḥ — giving up dharma = giving up the fruit; otherwise, how could there be the command to fight (to do one's duty)? Authority, 18.11: yas tu karmaphalatyāgī sa tyāgīty abhidhīyate.

Shridhara Swami. madbhaktyaiva sarvaṃ bhaviṣyatīti dṛḍhaviśvāsena vidhikaikaryaṃ tyaktvā — with the firm faith that "everything will come about through devotion to Me", giving up servitude (slavery) to rules; and karmatyāganimittaṃ pāpaṃ syād iti mā śucaḥ — do not grieve that "there will be sin in leaving actions undone".

Madhusudana Saraswati. dharmān … śaraṇatvenānādṛtya — not regarding the dharmas as one's refuge (not abolishing them); dharmāḥ santu na santu vā kiṃ tair anyasāpekṣaiḥ — whether the dharmas remain or not, the one refuge is the Lord.