Differentiating left-invariant matrix fields ($[X_{B_1},X_{B_2}](Q)=Q[B_1,B_2]$)

On a Matrix Lie group, the left-invariant vector field associated to a tangent vector $B$ at the identity is $X_B(Q)=QB$. Its ambient derivative is $D{X}_B(Q)[H]=HB$. Therefore the Lie bracket of vector fields is $[X_{B_1},X_{B_2}](Q)=Q(B_1{B}_2-B_2{B}_1)$, and the induced Lie algebra bracket is the commutator. This fixes the sign for left invariance; right-invariant fields induce the opposite sign when evaluated with the same matrix identification.