We alter Vasiliev’s original bosonic higher spin gravity in any dimension beyond the linearized level by factoring out a modified sp(2) gauge algebra. The new model can be embedded together with a dynamical two-form and an extra dynamical one-form into a flat Quillen superconnection. Further duality and sp(2) ghost extensions lead to a FrobeniusChern-Simons action in which the sp(2) and higher spin gauge symmetries are subsumed into a unified Cartan gauge group at the fully non-linear level.
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