This article develops optimal order (up to logarithmic factors) weighted cubature rules for Monte Carlo numerical integration in Sobolev reproducing kernel Hilbert spaces over common matrix manifolds. Specifically, we consider matrix models of the Stiefel, Grassmann, flag, and Lagrangian Grassmann manifolds each over either real numbers $\mathbb{R}$, complex numbers $\mathbb{C}$, or quaternions $\mathbb{H}$. The proposed cubature rules use evaluation points which are independent and identically distributed uniform on the manifold. The weights are chosen to be optimal with respect to the reproducing kernel Hilbert space worst-case error, under the constraint that the weights sum to one. Crucially, this constraint ensures optimal weights may be found without having to evaluate the kernel mean embedding (the integral of the kernel), which is often difficult to compute. We consider computable Matérn kernels of Frobenius distances between matrices which reproduce the Sobolev reproducing kernel Hilbert spaces with equivalent norms. Open-source numerical experiments validate our theoretical development, including an application to simultaneous approximation of intrinsic volumes in the Cauchy--Kubota formula. We also present preliminary empirical results beyond independent points including transformations of low-discrepancy quasi-Monte Carlo points from the unit cube and jointly optimized points and weights.

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