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Nov 9, 2022 at 0:47 vote accept abracadabra12345
Nov 8, 2022 at 17:23 answer added mme timeline score: 2
Nov 8, 2022 at 16:57 history edited abracadabra12345 CC BY-SA 4.0
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Nov 8, 2022 at 16:57 comment added abracadabra12345 Thanks for your answer! Yes, I was considering $K$ connected, but nevertheless what you gave is great. I'll update the question
Nov 8, 2022 at 14:22 comment added mme If this were true then the manifold would be a principle circle bundle over the quotient. If $G/K$ is a 3-manifold with $b_1 = 0$, this implies $G/K$ is diffeomorphic to a lens space $L(n,1)$. Thus a great many spherical 3-manifolds give counterexamples, such as the Poincare homology sphere where $G = SO_3$ and $K = A_5$ is the discrete group of symmetries of the icosahedron. Maybe you have better luck with K connected?
Nov 8, 2022 at 4:26 history asked abracadabra12345 CC BY-SA 4.0