We present self-contained proofs of the stability of the constants in the volume doubling property and the Poincaré and Sobolev inequalities for Riemannian approximations in Carnot groups. We use an explicit Riemannian approximation based on the Lie algebra structure that is suited for studying nonlinear subelliptic partial differential equations. Our approach is independent of the results obtained in [11].

In this article, we prove the continuity of the horizontal gradient near a C1,Dini non-characteristic portion of the boundary for solutions to $\Gamma ^{0,{\rm Dini}}$ perturbations of horizontal Laplaceans as in (1.1) below, where the scalar term is in scaling critical Lorentz space L(Q, 1) with Q being the homogeneous dimension of the group. This result can be thought of both as a sharpening of the $\Gamma ^{1,\alpha }$ boundary regularity result in [4] as well as a subelliptic analogue of the main result in [1] restricted to linear equations.

The equivalence between contact and Pansu differentiable maps on Carnot groups is established within the class of maps that are C1 with respect to the ambient Euclidean structure.