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### What is torsion in differential geometry intuitively?

Hi, given a connection on the tangent space of a manifold, one can define its torsion: $$T(X,Y):=\triangledown_X Y - \triangledown_Y X - [X,Y]$$ What is the geometric picture behind this definition&...
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### Rolling without slipping interpretation of torsion

This is, in a sense, a follow up to this question. Hehl and Obukhov try to give an intuitive description of torsion. I am confused about their description. I am looking at the following paragraph on ...
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### Why is it important that partial derivatives commute?

I am asking this in the context of differential geometry (specifically Riemannian). When the Levi-Civita Connection is defined, we require that the torsion tensor is 0, which in local coordinates ...
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### Torsion and Parallel Transport

There's a close relationship between curvature and the holonomy group; the holonomy theorem of Ambrose and Singer, for example. It seems to me that there should be an analogous result for torsion. I ...
Let $R$ be an integral domain. If $M$ is an $R$-module such that every tensor power of $M$ over $R$ is $R$-torsion-free, then is $M$ necessarily flat as an $R$-module? If not, then does this ...