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Let \\(M\\) be a smooth manifold \\(M\\) with a sub-Riemannian structure \\((\\mathscr{D},g)\\), let \\(x_0\\in M\\) be a point, let \\(\\lambda_0\\) be a covector and let \\(\\gamma\\) be a fixed normal geodesic with \\(\\gamma(0) = x_0\\) and \\(\\lambda_0\\) its initial covector. Recall that \\(\\gamma\\) is ample if there exists an integer \\(m(t)\\) such that the vectors \\(\\mathcal{L}^1_T(X)\\) satisfy  \\[  \\text{span}\\{\\mathcal{L}^i_T(X) : X \\in \\overline{\\mathscr{D}} ,i\\leq m(t)-1 \\} = T_{\\gamma(t)}M. \\]  The geodesic cost function \\(c_t : M \\to \\mathbb{R}\\) is defined by  \\[  c_t(x) = -\\frac1{2t}d^2(x,g(t)), \\qquad t>0. \\]  If \\(\\gamma\\) is ample, then, applying Laurent series, the second differential of \\(\\partial_t c_t\\) can be written in terms of two quadratic forms  \\[  d^2_{x_0}(\\partial_t c_t) = t^{-2} \\mathcal{I}_{\\lambda_0} + \\frac{1}{3}\\mathcal{R}_{\\lambda_0} + O(t) \\]  where the invariant \\(\\mathcal{R}_{\\lambda_0}\\) is known as the curvature operator. While these invariants have been explicitly computed for step-2 sub-Riemannian manifolds, the author here presents explicit formulas of the invariants \\(\\mathcal{I}_{\\lambda_0}\\) and \\(\\mathcal{R}_{\\lambda_0}\\) for two types of sub-Riemannian manifolds which are of step higher than two.  A Carnot group with Goursat-type distribution is a Lie group \\(\\mathbb{J}^n\\) whose Lie algebra is a nilpotent stratified Lie algebra \\(\\mathfrak{g} = \\mathfrak{g}_1\\oplus\\cdots\\oplus\\mathfrak{g}_{n-1}\\) such that \\(\\mathfrak{g}_1=\\text{span}\\{X_1,X_2\\}\\) and \\(\\mathfrak{g}_i=\\text{span}\\{X_{i+1}\\}\\) for \\(i=2,\\dots,n-1\\) where \\(\\{X_1,\\dots,X_n\\}\\) are vector fields in \\(\\mathbb{R}^n\\), \\(n\\geq 3\\), such that  \\[  [X_1,X_2] = X_3,\\quad \\dots,\\quad [X_1,X_{n-1}] = X_n. \\]  Many well-known manifolds (such as the Heisenberg group and the Engel group) belong in this family. Explicit expressions of \\(\\mathcal{I}_{\\lambda_0}\\) and \\(\\mathcal{R}_{\\lambda_0}\\) are given for such type of sub-Riemannian manifolds in Theorem 1.1.  In Theorem 1.2, the author provides explicit formulas for the Cartan group over \\(\\mathbb{R}^5\\). The Cartan group \\(\\mathfrak{C}\\) is a Lie group on \\(\\mathbb R^5\\) where the generators \\(\\{X_1,\\dots,X_5\\}\\) of its Lie algebra \\(\\mathfrak{L}\\) satisfy  \\[  [X_1,X_2] = X_3, \\quad [X_1,X_3] = X_4, \\quad [X_2,X_3] = X_5. \\]   Section 2 and 3 provide preliminaries from the work of Agrachev, Barilari and Rizzi. In Section 4, the author obtains explicit formulas for \\(\\mathcal{I}_{\\lambda},\\mathcal{R}_{\\lambda}\\) in Carnot groups with Goursat distributions while Section 6 contains analysis of ample and equiregular geodesics in Engel's group. Finally, in Section 6, the author proves explicit formulas for \\(\\mathcal{I}_{\\lambda},\\mathcal{R}_{\\lambda}\\) in the Cartan 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