In Cartan’s PhD thesis, there is a formula defining a certain rank 8 vector distribution in dimension 15, whose algebra of authomorphism is the split real form of the simple exceptional complex Lie algebra $\mathfrak {f}_4$. Cartan’s formula is written in the standard Cartesian coordinates in $\mathbb {R}^{15}$. In the present paper, we explain how to find analogous formulae for the flat models of any bracket generating distribution $\mathcal D$ whose symbol algebra $\mathfrak {n}({\mathcal D})$ is constant and 2-step graded, $\mathfrak {n}({\mathcal D})=\mathfrak {n}_{-2}\oplus \mathfrak {n}_{-1}$.

The formula is given in terms of a solution to a certain system of linear algebraic equations determined by two representations $(\rho ,\mathfrak {n}_{-1})$ and $(\tau ,\mathfrak {n}_{-2})$ of a Lie algebra $\mathfrak {n}_{00}$ contained in the $0$th order Tanaka prolongation $\mathfrak {n}_0$ of $\mathfrak {n}({\mathcal D})$.

Numerous examples are provided, with particular emphasis put on the distributions with symmetries being real forms of simple exceptional Lie algebras $\mathfrak {f}_4$ and $\mathfrak {e}_6$.

We study Hamiltonian actions of compact groups in the presence of compatible involutions. We show that the Lagrangian fixed point set on the symplectically reduced space is isomorphic to the disjoint union of the involutively reduced spaces corresponding to involutions on the group strongly inner to the given one. Our techniques imply that the solution to the eigenvalues of a sum problem for a given real form can be reduced to the quasi-split real form in the same inner class. We also consider invariant quotients with respect to the corresponding real form of the complexified group.