用矩阵的角度介绍了李群李代数的知识，通俗易懂，并且讨论了几个常见的矩阵子群作为李群的结构。对了解在黎曼流形上的机器学习有一些帮助。

李群的一本书，是扫描版，书的质量不错。 This book is intended for a one year graduate course on Lie groups and Lie algebras. The author proceeds beyond the representation theory of compact Lie groups （which is the basis of many texts）and provides a carefully chosen range of material to give the student the bigger picture. For compact Lie groups, the Peter-Weyl theorem, conjugacy of maximal tori （two proofs）, Weyl character formula and more are covered. The book continues with the study of complex analytic groups, then general noncompact Lie groups, including the Coxeter presentation of the Weyl group, the Iwasawa and Bruhat decompositions, Cartan decomposition, symmetric spaces, Cayley transforms, relative root systems, Satake diagrams, extended Dynkin diagrams and a survey of the ways Lie groups may be embedded in one another. The book culminates in a "topics" section giving depth to the student's understanding of representation theory, taking the Frobenius-Schur duality between the representation theory of the symmetric group and the unitary groups as a unifying theme, with many applications in diverse areas such as random matrix theory, minors of Toeplitz matrices, symmetric algebra decompositions, Gelfand pairs, Hecke algebras, representations of finite general linear groups and the cohomology of Grassmannians and flag varieties. 　　Daniel Bump is Professor of Mathematics at Stanford University. His research is in automorphic forms, representation theory and number theory. He is a co-author of GNU Go, a computer program that plays the game of Go. His previous books include Automorphic Forms and Representations （Cambridge University Press 1997）and Algebraic Geometry （World Scientific 1998）.

经典美剧的剧本台词

李群，李代数在机器人中的应用，教程很好，成体系，容易学

机器人状态估计理论经典

State Estimation for Robotics A Matrix Lie Group Approach

State Estimation for Robotics A Matrix Lie Group Approach

统计陷阱 how to lie with statistics 中英文+md

Lie group Lie algebras and representations an elementary introduction By Brian C.Hall.pdf. 此书从开始即从矩阵切入，从代数而非几何角度引入矩阵李群的概念。并通过定义运算的方式建立exponential mapping，并就此引入李代数。这种方式比起传统的通过“左不变向量场(Left-invariant vector field)“的方式定义李代数更容易为人所接受，也更容易揭示李代数的意义。最后，也有专门的论述把这种新的定义方式和传统方式联系起来。