Self-dual Grassmannian, Wronski map, and representations of $\mathfrak{gl}_N$, ${\mathfrak{sp}}_{2r}$, ${\mathfrak{so}}_{2r+1}$

We define a $\mathfrak{gl}_N$-stratification of the Grassmannian of $N$ planes $\mathrm{Gr}(N,d)$. The $\mathfrak{gl}_N$-stratification consists of strata $\Omega_{\mathbf{\Lambda}}$ labeled by unordered sets $\mathbf{\Lambda}=(\lambda^{(1)},\dots,\lambda^{(n)})$ of nonzero partitions with at most $N$ parts, satisfying a condition depending on $d$, and such that $(\otimes_{i=1}^n V_{\lambda^{(i)}})^{\mathfrak{sl}_N}\ne 0$. Here $V_{\lambda^{(i)}}$ is the irreducible $\mathfrak{gl}_N$-module with highest weight $\lambda^{(i)}$. We show that the closure of a stratum $\Omega_{\mathbf{\Lambda}}$ is the union of the strata $\Omega_{\mathbf\Xi}$, $\mathbf{\Xi}=(\xi^{(1)},\dots,\xi^{(m)})$, such that there is a partition $\{I_1,\dots,I_m\}$ of $\{1,2,\dots,n\}$ with ${\rm {Hom}}_{\mathfrak{gl}_N} (V_{\xi^{(i)}}, \otimes_{j\in I_i}V_{\lambda^{(j)}}\big)\neq 0$ for $i=1,\dots,m$. The $\mathfrak{gl}_N$-stratification of the Grassmannian agrees with the Wronski map. We introduce and study the new object: the self-dual Grassmannian $\mathrm{sGr}(N,d)\subset \mathrm{Gr}(N,d)$. Our main result is a similar $\mathfrak{g}_N$-stratification of the self-dual Grassmannian governed by representation theory of the Lie algebra $\mathfrak {g}_{2r+1}:=\mathfrak{sp}_{2r}$ if $N=2r+1$ and of the Lie algebra $\mathfrak g_{2r}:=\mathfrak{so}_{2r+1}$ if $N=2r$.