I'd like to know if there exists a connected Lie group $G$ and a closed manifold $M$ such that there is a locally-free smooth action $G\times M\to M$ (i.e. the stabilizer of any point of $M$ is a ...
I'm trying to understand the proof of the Oppenheim conjecture using Ratner's theorem, and I don't immediately see why $SO(2,1)$ is generated by unipotents. Why is $SO(2,1)$ generated by unipotents? ...