Structured state-space sequence models (SSMs) achieve linear-time inference and logarithmic-time parallel training via associative scans, yet diagonal transitions generate solvable semigroups unable to track non-solvable group words or 3D rigid-body manifolds. We present Non-Commutative Lie-Algebraic State-Space Models (Lie-SSMs), parameterizing recurrent updates on Lie algebra tangent spaces via the matrix exponential. First, using an o-minimal cylindrical flag collar, we establish an unconditional single-layer finite-division criterion for contracting $SO(3)$ and $SU(2)$ heads, proving odd-prime Sylow abelianity, odd-$p$-core centrality, and exponent-30 commutator obstructions excluding $S_5$ in $SO(3)^m, SU(2)^m,$ and $SO(4)^m$ while identifying the sharp threshold $d^*(S_5)=d^*(A_6)=5$ in $SO(5)$. Second, Depth-2 semidirect and Schreier $2$-cocycle cascades resolve $S_5$, $2I\cong SL_2(F_5)$, and $\mathrm{Heis}(F_p)$ in $O(\log T)$ scan depth, whereas unnormalized contracting coupling collapses exponentially without Directional RMSNorm. Third, we characterize the $Θ(\varepsilon^{c-1})$ Chen--Magnus--Hall--Witt commutator saddle and $1/|[G,G]|$ coset-centroid dilution, proving generic first-order symmetry breaking at $\varepsilon=0$ and teacher-forced local Polyak--Łojasiewicz convergence under dense prefix supervision and factored readouts ($99.90\%/99.40\%$ on $S_5$ at $T=128$; $100.00\%$ on $D_{16}$). Across $SE_2(3)$ Left-Jacobian odometry, Hillis--Steele/Blelloch GPU scans ($48.24\times$ forward, $20.27\times/10.28\times$ full-layer speedup at $T=2048$), and three 3D IMU benchmarks (UCI HAR, UCI HAPT-PT, and 17-subject REALDISP), Lie-$SO(3)$ models reach $95.69\%\pm 0.14\%$ on HAR, $88.44\%\pm 0.83\%$ episode logit-vote ($83.97\%\pm 1.20\%$ C3 window in 30-subject 5-fold CV; $87.16\%\pm 0.64\%$ 9-subject split) on HAPT-PT, and $84.23\%\pm 1.00\%$ on REALDISP.

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