Bhagavad Gita · Karma Sannyasa YogaChapter 5, Shloka 19 (5.19)

Shankaracharya — liberation while living, and the question of fault. Iha eva jīvadbhir eva — while still alive; jitaḥ vaśīkṛtaḥ sargaḥ janma — they have conquered birth. Nirdoṣam — yadyapi doṣavatsu śvapākādiṣu mūḍhaiḥ tad-doṣair doṣavat iva vibhāvyate tathāpi tad-doṣair aspṛṣṭam — deluded people think Brahman too is faulty because of the "faults" of the shvapaka and others, but Brahman is untouched by them. Here Shankara answers the objection of 5.18: na doṣa-gandha-mātram api tān spṛśati — not even a whiff of fault touches those of equal vision; the smriti rule on worship is dehādi-saṅghātātma-darśanābhimānavad-viṣayam — only for those who identify with the body.

Acharya Ramanuja — "brahma" = the pure self. Nirdoṣaṃ hi samaṃ brahma prakṛti-saṃsarga-doṣa-viyuktatayā samam ātma-vastu hi brahma — here "Brahman" is the self, which is equal once free of the fault of contact with prakriti; ātma-sāmye sthitāḥ ced brahmaṇi sthitā eva te — if they are established in the equality of selves, they are established in Brahman itself; brahmaṇi sthitiḥ eva hi saṃsāra-jayaḥ. And iha eva sādhanānuṣṭhāna-daśāyām eva — already in the stage of spiritual practice.

The difference: "Brahman" — for Shankara, the one non-dual supreme reality; for Ramanuja, here the pure nature of the self (all selves being equal in the form of knowledge).