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A linear connection on a manifold is a rule $(X,Y)\mapsto {\nabla }_{X}Y$ for differentiating vector fields which is additive, is $C^{\infty }$-linear in $X$, is real-linear in $Y$, and obeys ${\nabla }_X(fY)=X(f)Y+f{\nabla }_{X}Y$. It extends to covector fields and arbitrary tensor fields by the Leibniz rule and compatibility with contraction. In coordinates,This is the covariant derivative; the affine connection terms correct the changes of the coordinate basis. A symmetric affine connection has zero torsion tensor, $T(X,Y)={\nabla }_{X}Y-{\nabla }_{Y}X-[X,Y]=0$, or ${\Gamma }^c{}_{ab}={\Gamma }^c{}_{ba}$ in a coordinate basis. Symmetry does not imply metric compatibility; no metric is required for this question.

Additivity of each covariant derivative immediately gives additivity of ${\Delta }_{ab}$. Expanding the second derivative of a tensor product givesSubtract the expression with $a,b$ exchanged. The two mixed terms cancel, proving that the curvature commutator is a tensor derivation:For a scalar, ${\nabla }_a{\nabla }_{b}f={\partial }_a{\partial }_{b}f-{\Gamma }^c{}_{ab}{\partial }_{c}f$. Commuting partial derivatives and using the symmetric affine connection gives ${\Delta }_{ab}f=0$. Consequently ${\Delta }_{ab}(fU)=f{\Delta }_{ab}U$: the commutator is linear over smooth functions, not merely over constant scalars. Write $U=U^c{e}_c$ in a local basis. The tensor-product rule gives ${\Delta }_{ab}U=U^c{\Delta }_{ab}{e}_c$, showing that its value at a point depends only on $U$ at that point. Thus it defines the Riemann curvature tensor byThe antisymmetrized second covariant derivative is itself tensorial in the derivative indices, so this pointwise map transforms as a tensor. The formula or the defining commutator gives $R_{abc}{}^d=-R_{bac}{}^d$, hence $R_{abc}{}^d=R_{[ab]c}{}^d$ with normalized antisymmetrization.

Apply the commutator to the scalar contraction ${\omega }_c{U}^c$. Its action vanishes, soSince $U$ is arbitrary, ${\Delta }_{ab}{\omega }_c=-R_{abc}{}^d{\omega }_d$. Repeated use of the tensor-product rule gives one plus curvature action for an upper index and one minus action for each lower index. In particular,The type notation in the PDF means one contravariant and two covariant indices, not a fractional tensor order.

For the first Bianchi identity, put ${\omega }_c={\nabla }_{c}f$ and $H_{bc}={\nabla }_b{\nabla }_{c}f$. The symmetric Hessian of a scalar field satisfies $H_{bc}=H_{cb}$. Therefore the six third-derivative terms cancel inSubstituting the covector curvature action gives $(R_{abc}{}^d+R_{bca}{}^d+R_{cab}{}^d){\nabla }_{d}f=0$. At a chosen point the gradient of a smooth scalar can be any covector, soThe second form follows from the already proved first-pair antisymmetry.

For the second Bianchi identity, the same third-derivative cancellation can be organized as an operator identity. On vector-valued components set $D_a={\partial }_a+{\Gamma }_a$, with $({\Gamma }_a{)}^e{}_d={\Gamma }^e{}_{ad}$. Although a full second covariant derivative includes a term $-{\Gamma }^f{}_{ab}{D}_f$ for its lower derivative index, that term cancels on antisymmetrization because the affine connection is symmetric. Thus $[D_b,D_c]={\mathcal{R}}_{bc}$, where $({\mathcal{R}}_{bc}{)}^e{}_d=R_{bcd}{}^e$ acts by multiplication. Expanding the three nested operator commutators makes all six triple products cancel:Equivalently, the cyclic sum of ${\partial }_a{\mathcal{R}}_{bc}+[{\Gamma }_a,{\mathcal{R}}_{bc}]$ vanishes. These are the covariant derivative terms on the upper and last lower curvature indices. The two remaining lower indices add $-{\Gamma }^f{}_{ab}{R}_{fcd}{}^e-{\Gamma }^f{}_{ac}{R}_{bfd}{}^e$. In the cyclic sum these additions cancel in pairs, using ${\Gamma }^f{}_{ab}={\Gamma }^f{}_{ba}$ and $R_{fcd}{}^e=-R_{cfd}{}^e$. Hence the Bianchi identities from covariant derivative commutators giveBoth identities here apply to any torsion-free linear affine connection; the second derivation does not require choosing a metric affine connection.

Let ${\eta }_{ab}=g(e_a,e_b)$ be the constant diagonal metric matrix in a local pseudo-orthonormal frame, and define ${\theta }_{ab}={\eta }_{ac}{\theta }^c{}_b$. The metric compatibility of the Levi-Civita connection givesThus the lowered connection matrix is antisymmetric, including in indefinite signature. Ordinary matrix antisymmetry of ${\theta }^a{}_b$ itself is not the corresponding assertion in indefinite signature.

Let ${\omega }^a$ be the dual coframe, and write a vector field as $Y=e_b{\omega }^b(Y)$. ThenSubtract the same expression with $X,Y$ exchanged and subtract ${\omega }^a([X,Y])$. By the definition of the exterior derivative, this gives the components of the torsion tensor:The Levi-Civita connection is torsion-free, so Cartan's first structure equation is

Use $R(X,Y)={\nabla }_X{\nabla }_Y-{\nabla }_Y{\nabla }_X-{\nabla }_{[X,Y]}$ and define its matrix of curvature two-forms by $R(X,Y)e_b=e_a{R}^a{}_b(X,Y)$. Applying two covariant derivatives to $e_b$ yieldsThe first three terms are $d{\theta }^a{}_b(X,Y)$ and the last two are $({\theta }^a{}_c\wedge {\theta }^c{}_b)(X,Y)$. Therefore Cartan's second structure equation isThe associated Riemann curvature tensor components satisfy $R^a{}_b=\frac{1}{2}{R}^a{}_{bcd}{\omega }^c\wedge {\omega }^d$ with this convention.

For a position-dependent change of pseudo-orthonormal frame, write the frame row as $E^{\prime }=E\Lambda$, with ${\Lambda }^T\eta \Lambda =\eta$. The dual coframe obeys ${\omega }^{\prime }={\Lambda }^{-1}\omega$. Applying the Leibniz rule to $\nabla (E\Lambda )$ givesThe connection one-form has an inhomogeneous term because differentiating the moving basis produces $d\Lambda$. The curvature two-form instead transforms homogeneously. Indeed, curvature is tensorial in the vector to which it is applied, so $R(X,Y)(E\Lambda )=(R(X,Y)E)\Lambda =E^{\prime }{\Lambda }^{-1}R(X,Y)\Lambda$. ConsequentlyEquivalently, substituting the transformed connection into $d{\theta }^{\prime }+{\theta }^{\prime }\wedge {\theta }^{\prime }$ and using $d{\Lambda }^{-1}=-{\Lambda }^{-1}(d\Lambda ){\Lambda }^{-1}$ cancels all derivative terms and gives the same result. This transformation law holds for a general invertible frame change as well; the orthogonality condition ensures both frames remain pseudo-orthonormal.

Use the paper's curvature convention throughout, and define the Ricci tensor and scalar curvature by $R_{kn}=R^i{}_{kin}$ and $R=g^{kn}{R}_{kn}$. In particular, if semicolons are read from left to right, $X^i{}_{;km}={\nabla }_m({\nabla }_{k}X{)}^i$, including the connection on the derivative index. This ordering matters for the Ricci identity sign.

Choose Riemann normal coordinates at an arbitrary point $P$. The Christoffel symbols vanish there, and the Levi-Civita connection formula givesMetric symmetry and commuting partial derivatives show directly that exchanging $m,n$ or $i,k$ changes the sign, while interchanging the pairs $(i,k)$ and $(m,n)$ leaves the expression unchanged. Adding its three cyclic versions over $k,m,n$ cancels every second derivative. These are tensorial statements and $P$ was arbitrary, soThe cyclic relation is the first Bianchi identity; its reduction to the total antisymmetrization uses last-pair antisymmetry. These arguments use zero torsion tensor and metric compatibility, not a field equation.

At $P$, the covariant derivative of curvature equals its partial derivative. Differentiating the connection expression for curvature gives derivatives of ${\partial }_n{\Gamma }^i{}_{km}-{\partial }_m{\Gamma }^i{}_{kn}$; derivatives of the quadratic connection terms vanish because $\Gamma (P)=0$. In the cyclic sum over $m,n,p$, every second derivative of a connection coefficient occurs twice with opposite signs. ThusThis is the second Bianchi identity, valid everywhere by tensoriality.

Lower the first curvature index and contract the differential identity with $g^{im}$. Metric compatibility allows the metric to pass through the covariant derivatives. Using the pair antisymmetries yieldsContract again with $g^{km}$. The left side is $-{\nabla }^i{R}_{in}$, while the right side is ${\nabla }^k{R}_{kn}-{\nabla }_{n}R$. Hence the contracted Bianchi identity isThe Ricci tensor is symmetric, as follows by contracting the pair-exchange symmetry. The final divergence is that of the Einstein tensor.

For the vector commutator, at the same normal-coordinate point,The terms involving undifferentiated connection coefficients vanish at $P$. Subtracting the reversed expression leaves $({\Gamma }^i{}_{jk,m}-{\Gamma }^i{}_{jm,k})X^j$, exactly the stated curvature convention at $P$. ThereforeFor a covector field, its connection term has the opposite sign: ${\omega }_{i;k}={\partial }_k{\omega }_i-{\Gamma }^j{}_{ik}{\omega }_j$. The same calculation givesEquivalently, apply the commutator to the scalar ${\omega }_i{X}^i$, whose two covariant derivatives commute, and cancel the vector contribution. Each covariant index contributes a negative curvature action and each contravariant index a positive one in this semicolon ordering.

To prove the requested double divergence of the Riemann tensor, letThe once-contracted identity givesCommuting the outer derivative past ${\nabla }_m$ and ${\nabla }_n$ leaves a difference of scalar Hessians, $\frac{1}{2}({\nabla }_m{\nabla }_n-{\nabla }_n{\nabla }_m)R=0$, plus curvature terms. The operator commutator $[{\nabla }_k,{\nabla }_m]$ has the negative of the paper's curvature sign, since it reverses the semicolon order. On the mixed Ricci tensor it givesThe first term is symmetric in $m,n$: it is the metric contraction of two symmetric Ricci tensors. The second is $S_{mn}=R^{ak}{R}_{ankm}$ and is also symmetric, sincewhere the first equality uses curvature pair exchange and the second swaps the dummy indices $a,k$. Thus the two commutator terms cancel on antisymmetrization in $m,n$, provingNo assumption such as vacuum, constant curvature or vanishing Ricci tensor was used.

The Noether gauging procedure starts by allowing a constant symmetry parameter to depend on position. For an internal symmetry written as $\delta {\varphi }^i={ϵ}^A{T}_A{\varphi }^i$, integration by parts identifies the Noether current:up to a boundary term. Introduce a gauge field $A_{\mu }^A$ and add $-g{A}_{\mu }^A{j}_A^{\mu }$, with the inhomogeneous gauge transformation $\delta A_{\mu }^A=g^{-1}{\partial }_{\mu }{ϵ}^A+\cdots$. This cancels the displayed variation. The current coupling has its own variation, so one iterates: add the needed higher-order interactions and corrections to the gauge transformations, and require closure of the local symmetry algebra. For an ordinary gauge theory, this reorganizes derivatives into gauge covariant derivatives and fixes the nonlinear gauge field strength. Gauging is therefore more than replacing a constant parameter by a function.

For rigid supersymmetry, the corresponding Noether current is the spinor-valued supercurrent $S^{\mu }$. A local Majorana spinor parameter gives a variation proportional to $({\partial }_{\mu }\overline{ϵ})S^{\mu }$. A gravitino ${\Psi }_{\mu }$, with an inhomogeneous transformation $\delta {\Psi }_{\mu }\sim {\kappa }^{-1}{\partial }_{\mu }ϵ$, cancels it through a coupling proportional to $\kappa {\bar{\Psi }}_{\mu }{S}^{\mu }$. The commutator of two rigid supersymmetry transformations is a translation. With local parameters, the translation parameter becomes position dependent, so the completion must also gauge translations: it introduces the vierbein, diffeomorphism invariance of general relativity, and local Lorentz transformations. The gravitino and graviton thus belong to the same supergravity multiplet.

For pure minimal four-dimensional supergravity, start with the free massless Fierz-Pauli action and the free Rarita-Schwinger field kinetic term. The Noether gauging procedure replaces the former by the Einstein-Hilbert action and couples the latter to the vierbein and spin connection. In a canonical normalization the leading transformations can be writtenAn overall sign or phase changes with the curvature and Majorana spinor conventions, but the relative normalization must be used consistently. To see why these terms fit together, first work to quadratic order in fermions, so the spin connection is torsion free. Varying the Rarita-Schwinger field kinetic term under $\delta {\Psi }_{\mu }={\nabla }_{\mu }ϵ/\kappa$ produces an antisymmetric double spinor covariant derivative. The spinor curvature identity and the Einstein tensor contraction of spin curvature give, in the matching curvature convention,The resulting Einstein tensor term cancels the variation of the Einstein-Hilbert action under $\delta e_{\mu }{}^a$. This is the essential first nontrivial cancellation in the construction.

At higher fermion order, the variations of the vierbein and spin connection produce further terms. Treating the spin connection as independent makes its Euler-Lagrange field equation algebraic. Its solution is a gravitino-induced torsion connection. With ${\Psi }_a=e_a{}^{\mu }{\Psi }_{\mu }$ and ${\gamma }^{ab}=[{\gamma }^a,{\gamma }^b]/2$, a conventional canonical normalization givesEquivalently, with $T^a=d{e}^a+{\tilde{\omega }}^a{}_b\wedge e^b$, the torsion tensor obeysThe Majorana Grassmann bilinear interchange makes the right-hand side antisymmetric in $\mu ,\nu$. Eliminating the spin connection generates the four-fermion completion. In the 1.5-order formalism one substitutes its solution but varies the other fields holding the connection fixed: the omitted chain-rule term is $(\delta S/\delta \omega )\delta \tilde{\omega }=0$. The remaining cubic fermion variations cancel by the Clifford algebra and Fierz rearrangements. This produces the displayed supergravity action in its compact connection-dependent form. Calling this formulation on shell means that no independent auxiliary fields have been retained and that closure of the supersymmetry algebra uses the propagating Euler-Lagrange field equations; it does not mean that action invariance is obtained only by setting every variation to zero on a solution.

In the antisymmetrized kinetic term, ${\Psi }_{\sigma }$ is a spinor-valued one-form and the derivative is conventionally writtenThis is the Lorentz-covariant exterior-derivative convention for that term. If one instead uses the full affine covariant derivative of a vector-spinor, a coordinate-index connection is also present and the antisymmetrization must include its torsion tensor correction. The crucial physical distinction from pure metric general relativity is the spin connection contains gravitino-induced contorsion, rather than being the torsion-free Levi-Civita connection. It reduces to the ordinary spinor covariant derivative when the gravitino vanishes.

For a Lie group $G$, Left translation on a Lie group and right translation on a Lie group are the diffeomorphisms $L_g(h)=gh$ and $R_g(h)=hg$. Their differentials identify the tangent space at the identity with every tangent space. Translating a basis $e_a$ of the Lie algebra gives global left-invariant vector fields $E_a(g)=(d{L}_g{)}_e{e}_a$ and right-invariant vector fields $F_a(g)=(d{R}_g{)}_e{e}_a$. Left and right translations commute. If $[e_a,e_b]=c^c{}_{ab}{e}_c$, thenThe opposite sign for the right-invariant frame is essential.

Define an affine connection ${\nabla }^{-}$ by declaring the $E_a$ parallel. Explicitly, ${\nabla }_X^{-}(f^a{E}_a)=X(f^a)E_a$. Its curvature form of a connection vanishes, since successive derivatives of the component functions satisfy the vector-field commutator identity. Its torsion tensor isSimilarly, declaring the $F_a$ parallel gives another flat affine connection ${\nabla }^{+}$, with $T^{+}(F_a,F_b)=-[F_a,F_b]$. In a left-invariant frame the latter connection obeysTo see this, express $E_a=F_{{\mathrm{Ad}}_g{e}_a}$. Along $g\exp (t{e}_b)$, differentiation of ${\mathrm{Ad}}_{g\exp (t{e}_b)}{e}_a$ gives ${\mathrm{Ad}}_g[e_b,e_a]$, producing the displayed bracket. Consequently $T^{+}(X,Y)=[X,Y]$ for left-invariant $X,Y$. These are the flat translation connections on a Lie group. They have opposite torsion; if $G$ is Abelian, both torsion tensors vanish and the two connections coincide. The phrase “with torsion” does not mean nonzero torsion for Abelian groups.

The average ${\nabla }^0=({\nabla }^{-}+{\nabla }^{+})/2$ is again an affine connection and satisfies ${\nabla }_X^{0}Y=\frac{1}{2}[X,Y]$ for left-invariant fields. Its torsion tensor is zero. With the curvature convention $R(X,Y)Z={\nabla }_X{\nabla }_{Y}Z-{\nabla }_Y{\nabla }_{X}Z-{\nabla }_{[X,Y]}Z$, the Jacobi identity givesDefine the Ricci tensor by $\mathrm{Ric}(X,Y)=\mathrm{Tr}(Z\mapsto R(Z,X)Y)$. Since $[[Z,X],Y]={\mathrm{ad}}_Y{\mathrm{ad}}_{X}Z$, this giveswhere $K(X,Y)=\mathrm{Tr}({\mathrm{ad}}_X{\mathrm{ad}}_Y)$ is the Killing form. Thus the canonical torsion-free connection on a Lie group is generally curved. Its exact flatness criterion is $[[\mathfrak{g},\mathfrak{g}],\mathfrak{g}]=0$: Abelian and two-step nilpotent groups are exceptions. A vanishing Ricci tensor alone does not prove flatness.

For a semisimple Lie algebra, the Killing form is nondegenerate. Its adjoint invariance gives $K([X,Y],Z)+K(Y,[X,Z])=0$, so translating it defines a bi-invariant pseudo-Riemannian metric $g_K$. For left-invariant fields,A metric-compatible torsion-free connection is uniquely the Levi-Civita connection; therefore ${\nabla }^0$ is its Levi-Civita connection. Moreover,The special feature is a canonical nondegenerate metric and an Einstein manifold structure. The metric need not be positive definite: noncompact semisimple groups generally require indefinite signature. For compact semisimple groups, using $-K$ gives a bi-invariant Riemannian metric with $\mathrm{Ric}=\frac{1}{4}{g}_{-K}$ instead.

The torsion tensor of an affine connection isThe connection is symmetric, or a torsion-free connection, exactly whenIn a coordinate frame, write ${\nabla }_{{\partial }_i}{\partial }_j={\sum }_k{\Gamma }_{ij}^k{\partial }_k$. Since coordinate fields commute, the condition is ${\Gamma }_{ij}^k={\Gamma }_{ji}^k$; this is the reason for the word symmetric.

Use the Levi-Civita connection interpretation of the curvature convention. Its Riemann curvature tensor satisfiesThe first antisymmetry comes from the derivative commutator; the second comes from compatibility with the metric tensor. The cyclic identity is the first Bianchi identity, and together these imply exchange symmetry of the two antisymmetric index pairs. Contracting gives the symmetric Ricci tensor, $\boxed{R_{ab}=R_{ba}}$. The differential Bianchi identity is ${\nabla }_{[a}{R}_{bc]de}=0$.

There is a hypothesis qualification. A metric connection need not be a torsion-free connection. For a general such connection, the tensorial derivative commutator contains $-T^c{}_{ab}{\nabla }_c$ as well as curvature; pair exchange, the stated cyclic identity and Ricci symmetry need not hold. The printed pure-curvature commutator, and the scalar identity requested later, use the torsion-free interpretation. Under that intended interpretation all the boxed symmetries follow. They are not assertions about arbitrary metric-compatible connections with torsion tensor.

For example, with a constant Minkowski metric a connection having only ${\Gamma }^1{}_{02}=1$ and ${\Gamma }^2{}_{01}=-1$ nonzero is metric compatible, since its connection matrix in direction zero is a spatial rotation. It has $T^1{}_{02}=1$. For the scalar $f=x^1$ the tensorial Hessian commutator is $[{\nabla }_0,{\nabla }_2]f=-1$, rather than zero. This explicitly demonstrates the missing zero-torsion condition used in the subsequent scalar proof.

For a torsion-free connection, the covariant Hessian of a scalar is symmetric, so $[{\nabla }_a,{\nabla }_b]f=0$. Moreover, a commutator of two covariant derivatives acts as a derivation on tensor products. Applying the Leibniz rule twice, the terms containing one derivative on each factor cancel between the two orders:Projecting with the parallel symplectic form preserves this identity for the chiral spinor curvature operator. Since its scalar projection obeys ${\Delta }_{AB}f=0$, we obtainThus the chiral spinor curvature operator is algebraic over scalar functions even though its displayed expression uses second derivatives. If torsion tensor is allowed, $[{\nabla }_a,{\nabla }_b]f=-T^c{}_{ab}{\partial }_{c}f$ need not vanish, explaining why metric compatibility alone would not prove the claim.

An affine connection $\nabla$ is a metric connection for the Riemannian metric $g$ whenEquivalently the induced covariant derivative of the metric tensor satisfies $\nabla g=0$. This is metric compatibility; it imposes no condition on the torsion tensor. A Levi-Civita connection has the additional property of being a torsion-free connection.

Let $e(\omega )$ denote exterior multiplication, $e(\omega )\alpha =\omega \wedge \alpha$. For a $q$-form $\alpha$, evaluation of the proposed operator on vector fields $Y_0,\dots ,Y_q$ givessince ${\sum }_i{\omega }_i(Y_a)X_i=Y_a$. This expression is independent of the chosen local basis.

Expand each covariant derivative into the derivative of $\alpha (Y_0,\dots ,{\hat{Y}}_a,\dots ,Y_q)$ minus the terms obtained by differentiating each argument. For every pair $a<b$, those argument terms combine intoThe Levi-Civita connection is a torsion-free connection, so the vector in this expression is $[Y_a,Y_b]$. The result is exactly the defining evaluation formula for the exterior derivative:Therefore $\boxed{d=\sum _{i}e({\omega }_i){\nabla }_{X_i}}$. No orthonormality or compactness is needed for this identity; the dual-frame property and vanishing torsion tensor suffice.

A connection on a vector bundle $E\to M$ is an $\mathbb{R}$-linear mapsatisfying $\nabla (fs)=df\otimes s+f\nabla s$. Equivalently its directional version is real-bilinear and satisfiesFor a complex bundle it is complex-linear in the section variable and has the same Leibniz property.

Every smooth vector bundle over an ordinary Hausdorff, second-countable smooth manifold has such a connection. Choose trivializing open sets $U_a$, local frames $e_{a,i}$ and a subordinate locally finite partition of unity ${\rho }_a$. In each frame define the flat local connectionThen set $\nabla s={\sum }_a{\rho }_a{\nabla }^{(a)}(s{|}_{U_a})$, extending each weighted term by zero outside $U_a$. The supports lie inside the corresponding trivializing sets, making the extensions smooth, and local finiteness makes the sum smooth. Since ${\sum }_a{\rho }_a=1$, its Leibniz rule isThis is the construction of a vector bundle connection by a partition of unity.

The difference $A={\nabla }^{\prime }-\nabla$ of two connections is $C^{\infty }(M)$-linear in both its vector-field argument and its section argument. The derivative terms cancel, so $A_{X}s$ depends only on $X_p,s_p$ at each point. Smooth local coefficients therefore identify it withConversely, any such $A$ added to a connection preserves its axioms. Thus connections form an affine space modeled on ${\Omega }^1(M;\mathrm{End}E)$. Choosing a base connection ${\nabla }^0$ gives the noncanonical bijection $A\mapsto {\nabla }^0+A$; there is no distinguished zero connection and hence no canonical vector-space identification. This is the affine space of vector-bundle connections.

For a connection on $TM$, the torsion tensor is the alternating operation $\tau (X,Y)={\nabla }_{X}Y-{\nabla }_{Y}X-[X,Y]$. The connection and bracket Leibniz rules giveAlternation then gives $\tau (X,fY)=f\tau (X,Y)$ as well. Hence it is tensorial, of type one contravariant and two covariant indices:It is equivalently a $TM$-valued two-form, a torsion form.

For the local frame $e_i$ with dual coframe ${\varphi }_j$, defineThe connection is $C^{\infty }$-linear in $X$, so these are smooth differential one-forms. Expansion in the frame gives ${\nabla }_X{e}_i={\sum }_j{\omega }_{ij}(X)e_j$, and uniqueness follows by applying each ${\varphi }_j$. Here the first index is the input frame vector and the second the output coefficient; this fixes the connection one-form convention.

Expand $Y={\sum }_i{\varphi }_i(Y)e_i$ and apply the connection Leibniz rule:Subtract the corresponding expression with $X,Y$ exchanged, and then subtract ${\varphi }_j([X,Y])$. By the exterior derivative of a one-form evaluated on vector fields,Since all pairs of tangent vectors can be tested, equality of the two-forms follows:This is the Cartan first structure equation with input-first indices. Its plus sign is correct with the stated index order and wedge order; the common output-first convention writes the same identity with a minus sign and reversed wedge factors.

The Levi-Civita connection is the unique connection on a vector bundle $TM$ that is torsion-free and metric-compatible. These conditions areExistence and uniqueness follow from the Koszul formula; equivalently, these are the defining properties that characterize the connection.