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Let $G$ be a connected Lie group. What other conditions on $G$ are necessary and sufficient for the exponential map $$\mathrm{exp}: \mathfrak g \rightarrow G$$ from the Lie algebra $\mathfrak g$ of $G$ to be surjective?

Is it sufficient that $G$ be compact or nilpotent? What about solvable?

Rodrigo
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