The wise understand sannyasa to be the giving up of actions driven by desire. The discerning call the renouncing of the fruit of all actions tyaga.
Explanation
Krishna begins answering Arjuna's question about the difference between renunciation (saṃnyāsa) and relinquishment (tyāga). He first reports how the learned define them: sannyasa is giving up actions done to fulfil personal desires (kāmya karma), while tyaga is giving up the fruit of all actions. The two overlap, and in the next verse he goes on to survey the disagreement among thinkers before stating his own conclusion.