यदा हि नेन्द्रियार्थेषु न कर्मस्वनुषज्जते।
।।6.4।। जब (साधक) न इन्द्रियों के विषयों में और न कर्मों में आसक्त होता है तब सर्व संकल्पों के संन्यासी को योगारूढ़ कहा जाता है।।
In this verse Lord Krishna tells the signs of one who has established themselves in equanimity of mind. For such a person there is absolute detachment because there is no desire for results. If one is devoted to the Supreme Lord then all imperfections dissolved on their own. If one is not devoted then they are eradicated by special effort. Now begins the summation. How does one become detached from ones actions? The answer is to renounce the desire for the rewards of actions or if one is devoted to the Supreme Lord to offer all the rewards to Him. By acting in either of these ways one is considered performing renunciation for the Supreme Lord.