यस्य सर्वे समारम्भाः कामसङ्कल्पवर्जिताः।
ज्ञानाग्निदग्धकर्माणं तमाहुः पण्डितं बुधाः।।4.19।।
4.19 The wise call him learned whose actions are all devoid of desires and their thougts, [Kama-sankalpa is variously translated as desires and purposes, plans and desires for results, hankering for desires, etc. But Sankarcarya shows sankalpa as the cause of kama. -Tr.] and whose actions have been burnt away by the fire of wisdom.
4.19 In the case of an aspirant for release, all undertakings of actions in the form of obligatory, occasional and desiderative acts accomplished through the acisition of materials for their performance as also other works, are free from desire, i.e., are devoid of attachment to fruits. They are devoid of delusive identification. If the mind identifies the self with Prakrti and its Gunas, it is Sankalpa, i.e., delusive identification. Genuine Karma Yoga is free from such identification. Such identification is overcome through contemplation on the real nature of the self as different from Prakrti. Those who know the truth call him a sage, who acts in this way and whose previous Karmas are thery burnt up by the fire of knowledge of the real nature of the self generated along with his actions. He is a true Karma Yogin. Thus that knowledge is involved in true Karma Yoga, is established. Sri Krsna elaborates this point again:
Yasya sarve samaarambhaah kaamasankalpa varjitaah; Jnaanaagni dagdhakarmaanam tam aahuh panditam budhaah.
yasya—whose; sarve—every; samārambhāḥ—undertakings; kāma—desire for material pleasures; saṅkalpa—resolve; varjitāḥ—devoid of; jñāna—divine knowledge; agni—in the fire; dagdha—burnt; karmāṇam—actions; tam—him; āhuḥ—address; paṇḍitam—a sage; budhāḥ—the wise