We generalize Bruned et. al.'s notion of translation in geometric and branched rough paths to a notion of translation in rough paths over any combinatorial Hopf algebra. We show that this notion of translation is equivalent to two bialgebras being in cointeraction, subject to certain additional conditions. We argue that reformulating translations in terms of substitutions, provides simpler conditions for the cointeraction formulation. As a concrete example, we describe translations in planarly branched rough paths.

The paper follows an operadic approach to provide a bialgebraic description of substitution for Lie–Butcher series. We first show how the well-known bialgebraic description for substitution in Butcher’s B-series can be obtained from the pre-Lie operad. We then apply the same construction to the post-Lie operad to arrive at a bialgebra $\mathcal {Q}$ . By considering a module over the post-Lie operad, we get a cointeraction between $\mathcal {Q}$ and the Hopf algebra $\mathcal {H}_{N}$ that describes composition for Lie–Butcher series. We use this coaction to describe substitution for Lie–Butcher series.

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The paper follows an operadic approach to provide a bialgebraic description of substitution for Lie-Butcher series. We first show how the well-known bialgebraic description for substitution in Butcher's B-series can be obtained from the pre-Lie operad. We then apply the same construction to the post-Lie operad to arrive at a bialgebra Q. By considering a module over the post-Lie operad, we get a cointeraction between Q and the Hopf algebra HN that describes composition for Lie-Butcher series. We use this coaction to describe substitution for Lie-Butcher series.