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As one of the authors of the paper, let me give you an answer. The operation $F$ is indeed applied to both $x$ and $x'$. By stating that $\oplus$ is invariant under rotation, we mean that if you first rotate $x$ and $x'$ and take the difference with $\oplus$, you get the same result as if you first take the difference with $\oplus$ and then rotate the ...

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