Bhagavad Gita · Jnana Karma Sannyasa YogaChapter 4, Shloka 21 (4.21)

Three renunciations. Nirāśīḥ (hope), yata-cittātmā (self-control), tyakta-sarva-parigrahaḥ (giving up possessions).

Shankaracharya — "even dharma is kilbiṣa". Yata-cittātmā: cittam antaḥkaraṇam, ātmā bāhyaḥ kārya-karaṇa-saṅghātaḥ — both the chitta (mind) and the atma (here, the aggregate of body and senses) under control. Śārīraṃ śarīra-sthiti-mātra-prayojanam kevalaṃ tatrāpi abhimāna-varjitam — only for maintaining the body, and even in that without pride. Na āpnoti kilbiṣam … dharmaṃ ca — incurs neither sin nor merit; dharmo 'pi mumukṣoḥ kilbiṣam eva bandhāpādakatvāt — for a seeker of liberation even merit is "kilbiṣa" (sin), because it too binds. Shankara then argues at length that "śārīram" means not "done by the body" but "for the maintenance of the body" — otherwise one would arrive at the absurd meaning that even forbidden acts done with the body incur no sin.

Acharya Ramanuja: nirāśīḥ nirgata-phalābhisandhiḥ (free from hope, the desire for results gone); tyakta-sarva-parigrahaḥ ātmaika-prayojanatayā prakṛti-prākṛta-vastuni mamatā-rahitaḥ — since the self is his only purpose, free from the sense of "mine" towards prakriti and material things; yāvaj-jīvaṃ kevalaṃ śārīram eva karma kurvan kilbiṣaṃ saṃsāraṃ na āpnoti — doing only bodily action throughout life, he does not incur saṃsāra (bondage); jñāna-niṣṭhā-vyavadhāna-rahita-kevala-karma-yogena evaṃ-rūpeṇa ātmānaṃ paśyati — through karma-yoga alone, without the intervening stage of jnana-nishtha, he sees the self in this form.