We establish two results concerning a class of geometric rough paths $\mathbf{X} $ which arise as Markov processes associated to uniformly subelliptic Dirichlet forms. The first is a support theorem for $\mathbf{X} $ in $\alpha $-Hölder rough path topology for all $\alpha \in (0,1/2)$, which proves a conjecture of Friz–Victoir [13]. The second is a Hörmander-type theorem for the existence of a density of a rough differential equation driven by $\mathbf{X} $, the proof of which is based on analysis of (non-symmetric) Dirichlet forms on manifolds.
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