Characteristic conic connections and torsion-free principal connections

We study the relation between torsion tensors of principal connections on G-structures and characteristic conic connections on associated cone structures. We formulate sufficient conditions under which the existence of a characteristic conic connection implies the existence of a torsion-free principal connection. We verify these conditions for adjoint varieties of simple Lie algebras, excluding those of type ${\mathsf{\text{A}}}_{\mathrm{\ell }\mathrm{\ne }2}$ or ${\mathsf{\text{C}}}_{\mathrm{\ell }}$. As an application, we give a complete classification of the germs of minimal rational curves whose VMRT at a general point is such an adjoint variety: nontrivial ones come from lines on hyperplane sections of certain Grassmannians or minimal rational curves on wonderful group compactifications.