A pseudo-riemannian manifold is a differentiable manifold equipped with a non-degenerate, symmetric bilinear form on the tangent space at each point that can have both positive and negative eigenvalues. This allows for the definition of lengths and angles, but unlike Riemannian manifolds, it can describe geometries where distances can be 'negative' or 'zero', such as in the case of spacetimes in general relativity. Understanding this concept is crucial when exploring the properties of curvature and parallel transport in various contexts.
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