Grope cobordism of classical knots

Motivated by the lower central series of a group, we define the notion of a grope cobordism between two knots in a 3-manifold. Just like an iterated group commutator, each grope cobordism has a type that can be described by a rooted unitrivalent tree. By filtering these trees in different ways, we show how the Goussarov–Habiro approach to finite type invariants of knots is closely related to our notion of grope cobordism. Thus our results can be viewed as a geometric interpretation of finite type invariants. rived commutator series of a group also has a three-dimensional analogy, namely knots modulo symmetric grope cobordism. On one hand this theory maps onto the usual Vassiliev theory and on the other hand it maps onto the Cochran–Orr–Teichner filtration of the knot concordance group, via symmetric grope cobordism in 4-space. In particular, the graded theory contains information on finite type invariants (with degree h terms mapping to Vassiliev degree 2h), Blanchfield forms or S-equivalence at h=2, Casson–Gordon invariants at h=3, and for h=4 one finds the new von Neumann signatures of a knot.