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Jun 12 at 14:33 comment added Anton Petrunin If $d$ is $C^1$ in a neighborhood of $\Sigma$, then normal curvatures of $\Sigma$ are bounded. Therefore $\Sigma$ should be at least $C^2$.
Dec 30, 2023 at 9:35 comment added Nate River In Chapter 6 of Lee's Riemannian Manifolds book, he proves that $d$ is $C^\infty$ near $\Sigma$ under the assumption that $\Sigma$ is $C^\infty$. (Theorem 6.40) Perhaps the proof can be generalised.
Dec 29, 2023 at 21:02 history asked gaoqiang CC BY-SA 4.0