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authors prove a version of the classical Rothschild-Stein lifting/approximation theorem for sub-Laplacians associated to H\u00f6rmander families of vector fields. Key novelties in the authors' approach include a full treatment of both lifting and approximation by a nilpotent Lie group structure in the category of weighted vector fields, and an extension of the theory to the nonsmooth setting.NEWLINENEWLINEMore precisely, the authors consider second-order differential operators of the form NEWLINE\\[NEWLINE L = \\sum_{i=1}^n X_i^2 + X_0 NEWLINE\\]NEWLINE defined in a domain \\(\\Omega \\subset {\\mathbb R}^p\\), where the vector fields \\(X_i\\) together with their iterated commutators up to some fixed level \\(r\\) span the tangent space at each point of \\(\\Omega\\).NEWLINENEWLINEIn Section 1, they assume that the vector fields \\(X_1,\\dots,X_n\\) have \\(C^{r-1}\\) coefficients while \\(X_0\\) has \\(C^{r-2}\\) coefficients. In such a setting, they prove the lifting theorem: There exist an integer \\(m\\) and vector fields \\(\\tilde{X}_i\\) in \\({\\mathbb R}^{p+m}\\) of the form NEWLINE\\[NEWLINE \\tilde{X}_i = X_i + \\sum_{j=1}^m u_{ij}(x,t_1,\\dots,t_{j-1}) \\, \\frac{\\partial}{\\partial t_j}, NEWLINE\\]NEWLINE where \\(t_1,\\dots,t_m\\) denote coordinates in \\({\\mathbb R}^m\\) and the functions \\(u_{ij}\\) are polynomials such that the lifted vector fields \\(\\tilde{X}_i\\) continue to verify H\u00f6rmander's condition and are free up to weight \\(r\\).NEWLINENEWLINESection 2 executes Rothschild and Stein's approximation procedure in the category of smooth vector fields. Here the authors also establish a Ball-Box theorem \u00e0 la Nagel-Stein-Wainger.NEWLINENEWLINEIn Section 3, the authors generalize the results of Section 2 to the less regular setting of Section 1. This is done by combining the results of Section 2 with a natural procedure for approximating \\(C^k\\) vector fields by suitable Taylor expansions. In order to quantitatively estimate the resulting remainder terms, the authors introduce here an assumption slightly stronger than in Section 1: they assume that the vector fields \\(X_1,\\dots,X_n\\) have \\(C^{r-1,\\alpha}\\) coefficients while \\(X_0\\) has \\(C^{r-2,\\alpha}\\) coefficients. Here \\(\\alpha \\in (0,1]\\) denotes a fixed parameter and \\(C^{k,\\alpha}\\) denotes the space of functions whose \\(k\\)-th order iterated partial derivatives are \\(\\alpha\\)-H\u00f6lder continuous. Under these assumptions, they prove that the lifted vector fields \\(\\tilde{X}_i\\) can be approximated (in a certain precise sense) by a family of vector fields \\(Y_i\\) with respect to which the underlying space is equipped with the structure of a homogeneous Lie group with dilations; the vector fields \\(Y_i\\) remain free up to weight \\(r\\), are left invariant with respect to the group law, and are homogeneous of a suitable degree with respect to the 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