लभन्ते ब्रह्मनिर्वाणमृषयः क्षीणकल्मषाः। छिन्नद्वैधा यतात्मानः सर्वभूतहिते रताः ॥

labhante brahma-nirvāṇam ṛiṣhayaḥ kṣhīṇa-kalmaṣhāḥ chhinna-dvaidhā yatātmānaḥ sarva-bhūta-hite ratāḥ

Rishis, their sins destroyed, their duality removed, their selves controlled, intent upon the welfare of all beings, obtain the Peace of the Eternal.

In plain words: Krishna says that sages (rishis) reach God's peace when their wrongs are gone, they no longer see the world split into opposites, they control themselves, and they work for the good of all living beings.