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Matrix invariants for simultaneous conjugation by a finite subgroup of $\textrm{GL}_n$

Let $K$ be a field of characteristic 0, and consider $d$ generic $n\times n$ matrices $X_1,\ldots,X_d$ where $X_k = (x_{ijk})_{ij}$ and $ K[x_{ijk}]$ is the polynomial algebra in $n^2 \cdot d$ ...