# Tagged Questions

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### Left-invariant Riemannian metric on $SO(3)$

Let's consier the manifold $SO(3)$. First problem is to show that $T_I SO(3)$ is a space of skew-symmetric matrices $3\times 3$. How can I deduce it? Then I have to prove there exists exactly one ...
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### Gradient of a real-valued function on SO(3)

I have struggling with a problem of evaluating the gradient of a cost function on the Lie group of rotations: SO(3). The cost is the following: ...
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### The Lie derivative by an infinitesimal action is invertible at an isolated zero point

Let a compact Lie group $G$ act on a manifold $M$. Fix $X \in \mathfrak g$ and we write $X_M$ for the infinitesimal action of $X$. Assume that $p \in M$ is a zero point of $X_M$. Define a linear map ...
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### Volume form for $SE(n)$ and/or $E(n)$. [duplicate]

I wonder what happens when you construct the Tiling spaces considering the natural action of $SE(n)$ or $E(n)$ rather than $\mathbb R^n$. In order to do that, I need to understand both the riemannian ...
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### Is every Lie group the automorphism group of a riemannian manifold?

Given a finite-dimensional Lie Group $G$, is there always a Riemannian manifold $M$, such that $G$ is the group of isometries of $M$?
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### Euler characteristic of 2-dimensional compact Lie Groups

I'd like to know why the Euler characteristic of $G$, a compact Lie Group of dimension 2, is zero. I'm aware of the fact that this is true not only for dimension 2. The point is that I'm not familiar ...
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### A slice orthogonal to each orbit

Assume that a compact (connected) Lie group $G$ acts on a manifold $M$. We choose a $G$-invariant Riemannian metric on $M$ and a point $p \in M$. Then using the exponential map at $p$, we can obtain a ...
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### Isometry group of a Lie group

I'm having trouble dealing with the following question : what is the isomety group of $\mathbf{PSL}_2(\mathbb{R})$ viewed as a Lie group with its Killing form ? For the record, its Killing form is the ...
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### A question about left invariant vector fields

Let $G$ be a Lie group with bi-invariant metric $\langle , \rangle$ and $X,Y,Z$ left invariant vector fields in $G$, how to conclude that $X\langle Y,Z\rangle=0$?
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### $\operatorname{Isom}{(M)}$ has Lie-structure for M metrizable manifold

Suppose $M$ is a smooth and metrizable manifold. Then $\operatorname{Isom}{(M)}$ can be given the structure of a Lie group, so that the action of $\operatorname{Isom}{(M)}$ on $M$ is still smooth. I ...
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### Levi-Civita connection of a left-invariant metric

How do I compute Levi-Civita connection of a left-invariant metric on a Lie group in a neighbourhood of $1$ by knowing only its Lie algebra and the metric form on it? I know it's possible because a ...
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### Are Lie Groups Homogeneous Spaces?

Is any Lie Group a homogeneous space?