“…Our paper is focused on the setting where d does not grow with the sample size n. This covers the most interesting applications in the literature for d = 3, though an extension of our result to a growing d would also be theoretically interesting. We exclude the case d = 1, because SO(1) is a degenerate set, and the problem over O(1) = {−1, 1} is known as Z 2 synchronization, whose minimax rate has already been derived in the literature [11,15]. It is interesting to note that the minimax rate of Z 2 synchronization is exponential instead of the polynomial rate of O(d) synchronization for d ≥ 2.…”