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Q: 1/2 coefficient in Curvature Form article formula of Wikipedia

brunohThe formula for the principal curvature form in the Wikipedia article Curvature Form is, when applied to the $X, Y$ tangent vectors to the principal bundle $P$, goes on like $$\Omega(X, Y)=d\omega(X, Y)+\frac12[\omega(X), \omega(Y)]$$ where $\omega$ is the connection form with value in the lie al...

 

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