A geometric take on Kostant's Convexity Theorem

Given a compact Lie group $G$ and an orthogonal $G$-representation $V$, we give a purely metric criterion for a closed subset of the orbit space $V/G$ to have convex pre-image in $V$. In fact, this also holds with the natural quotient map $V\to V/G$ replaced with an arbitrary submetry $V\to X$. In this context, we introduce a notion of "fat section" which generalizes polar representations, representations of non-trivial copolarity, and isoparametric foliations. We show that Kostant's Convexity Theorem partially generalizes from polar representations to submetries with a fat section, and give examples illustrating that it does not fully generalize to this situation.