= Kirillov–Kostant–Souriau symplectic form
{c}
{title2=$\omega_\ell(\operatorname{ad}^*_\xi\ell,\operatorname{ad}^*_\eta\ell)=\langle\ell,[\xi,\eta]\rangle$}
With $\langle\operatorname{ad}^*_\xi\ell,\eta\rangle=-\langle\ell,[\xi,\eta]\rangle$, the displayed form on a <coadjoint orbit> is well-defined: changing a generator by an element of the stabilizer changes no pairing. It is nondegenerate on orbit tangents, and its closedness follows from the Jacobi identity. This sign agrees with the positive Lie-Poisson bracket when Hamiltonian vector fields act by $X_f(g)=\{g,f\}$. A negative Lie-Poisson convention reverses the orbit form as well.
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