Trading inverses for an irrep in the Solovay-Kitaev theorem

The Solovay-Kitaev theorem states that universal quantum gate sets can be exchanged with low overhead. More specifically, any gate on a fixed number of qudits can be simulated with error $ε$ using merely $\mathrm{polylog}(1/ε)$ gates from any finite universal quantum gate set $\mathcal{G}$. One drawback to the theorem is that it requires the gate set $\mathcal{G}$ to be closed under inversion. Here we show that this restriction can be traded for the assumption that $\mathcal{G}$ contains an irre...