Many tasks compose transformations by a known rule: chained rotations in robotics and navigation. Learned models relearn it, compounding error; classical estimators hardcode it and miss hardware deviations. We impose the known structure and learn only the remainder: an exact non-commutative group law sits in the node of a self-contained layer, its edges learn local increments, and a zero-initialized correction psi learns unknown deviations of the law. A pre-training criterion predicts exact representability. On fixed-angle SU(2) composition, a 54-parameter dense edge is the most accurate dense model, at 27x fewer parameters than the strongest fixed-matrix baseline, and lies 0.05 deg above the Bayes floor. On real robot arms, an isolated 306-parameter psi reaches 1.12-1.14 mm versus 1.29-1.33 mm for Gauss-Newton at N >= 60, and the recipe transfers across three vendors and two protocols. The recipe matches classical fits where the data obey the law and loses where the imposed law is not the task's.