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An abelian Lie group has commutative multiplication. Its Lie algebra is an abelian Lie algebra, and its Lie exponential map is a group homomorphism from the additive Lie algebra. Conversely, an additive Lie exponential map forces the identity component of a Lie group to be abelian, but does not force all disconnected components to commute.

The Exponential map of a Lie group is a group homomorphism from the additive Lie algebra exactly when its identity component of a Lie group is abelian. If it is additive, its image is an abelian subgroup containing an identity neighborhood by the local exponential chart; connectedness makes that image the entire identity component. Conversely, in an abelian identity component the product $\exp (tX)\exp (tY)$ is a one-parameter subgroup with derivative $X+Y$, giving the identity by uniqueness. The disconnected Lie group $S_3\times \mathbb{R}$ shows that the full group need not be abelian.

If a Lie group has an Adjoint representation of a Lie group element with a real eigenvector of eigenvalue whose modulus differs from one, it has no bi-invariant Riemannian metric. Conjugation is a composition of left and right translations, hence would preserve the positive identity inner product. Applying it to that eigenvector gives $\Vert v\Vert =|\lambda |\Vert v\Vert$, a contradiction. The orientation-preserving affine group of the real line supplies a connected example: conjugation by dilation of factor two multiplies the infinitesimal translation by two.

A differential form on a Lie group is bi-invariant when it is invariant under both left and right translations.

A Riemannian metric on a Lie group is bi-invariant if both left and right translations are isometries. Its identity inner product is invariant under the Adjoint representation of a Lie group; infinitesimally,This skew-adjointness is the key additional property beyond left invariance.

Specify the displayed rule on left-invariant vector fields and extend by the Leibniz rule to an affine connection on the Lie group. In a left-invariant vector field frame $L_i$, the extension is ${\nabla }_{L_i}(z^j{L}_j)=L_i(z^j)L_j+\lambda z^j[L_i,L_j]$. Applying the bare bracket formula to arbitrary vector fields instead would violate the Leibniz rule unless $\lambda =1$. With $R(X,Y)Z={\nabla }_X{\nabla }_{Y}Z-{\nabla }_Y{\nabla }_{X}Z-{\nabla }_{[X,Y]}Z$, the Jacobi identity givesfor left-invariant arguments, where $B$ is the Killing form and $\mathrm{Ric}(X,Y)=\mathrm{tr}(Z\mapsto R(Z,X)Y)$. These identities determine the tensor fields everywhere. The endpoints $\lambda =0,1$ have zero curvature, with respectively left- and right-invariant parallel frames, and opposite torsion tensors. The midpoint $\lambda =1/2$ is torsion-free but need not have zero curvature.

On a graded nilpotent Lie group whose first layer generates its Lie algebra, a horizontal curve obeys ${\dot{\gamma }}_t=(L_{{\gamma }_t}{)}_{\ast }{\dot{x}}_t$ for a control in the first layer. The displayed infimum is over horizontal curves with prescribed endpoints. The distance is left invariant and homogeneous under the graded dilations. On a free nilpotent Lie group it measures the least Euclidean length of a path realizing a prescribed truncated path signature.

An adjoint-invariant symmetric bilinear form $B$ on a Lie algebra makes the displayed tensor alternating. If $B$ is invariant under the full group Adjoint representation, its left-translated three-form is also right-invariant. On left-invariant fields, the exterior derivative is $d\eta (W,X,Y,Z)=-2B(W,[X,[Y,Z]]+[Y,[Z,X]]+[Z,[X,Y]])=0$ by the Jacobi identity. The Killing form supplies such a $B$ on every semisimple Lie group. An overall sign change in the lowered structure-constant convention negates the form but not its invariance or closedness.

On a connected Lie group, a left-invariant differential 1-form is closed exactly when it is bi-invariant. Connectedness is essential: on $O(2)$ every left-invariant 1-form is closed because its Lie algebra is abelian, while reflection conjugation negates every nonzero one.

Every closed subgroup of a finite-dimensional Lie group is an embedded submanifold and a Lie subgroup. Closedness alone forces the compatible smooth structure; smoothness need not be assumed in advance. The proof constructs the Lie algebra of a closed subgroup from one-parameter subgroups, then uses local product coordinates for a closed subgroup.

The coadjoint action of a Lie group on the dual space of its Lie algebra is $({\mathrm{Ad}}_g^{\ast }\eta )(X)=\eta ({\mathrm{Ad}}_{g^{-1}}X)$. The inverse in this formula makes it a left group action.

The Peter-Weyl theorem makes finite-dimensional unitary representations separate elements of a compact group. Intersecting their closed kernels gives the identity subgroup. If the descending chain condition holds for closed subgroups, choose finitely many representations whose kernel intersection is already trivial: otherwise repeatedly exclude a surviving nonidentity element to obtain an infinite strict chain. Their direct sum is a faithful representation into a finite-dimensional unitary group. Compactness makes its image closed, and the closed-subgroup theorem gives the original group a compatible Lie group structure.

A compact Lie group is a Lie group whose underlying manifold is compact. Averaging any positive inner product over its Haar measure supplies an invariant inner product on each finite-dimensional representation, including the Adjoint representation.

A compact real form of a complex semisimple Lie algebra $\mathfrak{g}$ is a real Lie subalgebra $\mathfrak{u}$ whose complexification of a Lie algebra is $\mathfrak{g}$ and whose Killing form is negative definite. Its simply connected Lie group is compact. The positive internal inner product used in unitary gauge theory is therefore $-\kappa$. For ${\mathfrak{sl}}_2(\mathbb{C})$ the SU(2) Lie algebra is a compact real form, whereas ${\mathfrak{sl}}_2(\mathbb{R})$ is a different real form with indefinite Killing form.

Every smooth left-invariant vector field on a Lie group is a complete vector field. Translate a local integral curve of a vector field through the identity to every other point. The same positive local existence interval works at every initial point, so no maximal integral curve of a vector field can have a finite endpoint. Uniqueness then makes the curve through the identity a one-parameter subgroup.

A complex Lie group is a complex manifold whose multiplication and inversion are holomorphic maps between complex manifolds. Its tangent space at the identity is a complex Lie algebra; the Adjoint representation of a Lie group and the Lie exponential map are holomorphic. Compatibility with a complex manifold structure is essential: an arbitrary even-dimensional real Lie group need not have holomorphic multiplication.

Complex two-by-two matrices of determinant one form a complex three-dimensional Lie group, or a real six-dimensional Lie group. Their congruence action on Hermitian two-by-two matrices gives the Lorentz spinor double cover with kernel $\{I,-I\}$. The two Weyl spinor representations are $A$ and $(A^{†}{)}^{-1}$. Treating the group as real is essential for the second, antiholomorphic representation.