Let $\rho \colon G \to \operatorname{GL}(V)$ be a rational finite dimensional complex representation of a reductive linear algebraic group $G$, and let $\sigma_1,\dots,\sigma_n$ be a system of generators of the algebra of invariant polynomials $\mathbb C[V]^G$. We study the problem of lifting mappings $f\colon \mathbb R^q \supseteq U \to \sigma(V) \subseteq \mathbb C^n$ over the mapping of invariants $\sigma=(\sigma_1,\dots,\sigma_n) \colon V \to \sigma(V)$. Note that $\sigma(V)$ can be identified with the categorical quotient $V /\!\!/ G$ and its points correspond bijectively to the closed orbits in $V$. We prove that if $f$ belongs to a quasianalytic subclass $\mathcal C \subseteq C^\infty$ satisfying some mild closedness properties that guarantee resolution of singularities in $\mathcal C$, e.g., the real analytic class, then $f$ admits a lift of the same class $\mathcal C$ after desingularization by local blow-ups and local power substitutions. As a consequence we show that $f$ itself allows for a lift that belongs to $\operatorname{SBV}_{\operatorname{loc}}$, i.e., special functions of bounded variation. If $\rho$ is a real representation of a compact Lie group, we obtain stronger versions.

We define a motivic analogue of the Haar measure for groups of the form $G(k\llp t\rrp)$, where~$k$ is an algebraically closed field of characteristic zero, and $G$ is a reductive algebraic group defined over $k$. A classical Haar measure on such groups does not exist since they are not locally compact. We use the theory of motivic integration introduced by M.~Kontsevich to define an additive function on a certain natural Boolean algebra of subsets of $G(k\llp t\rrp)$. This function takes values in the so-called dimensional completion of the Grothendieck ring of the category of varieties over the base field. It is invariant under translations by all elements of $G(k\llp t\rrp)$, and therefore we call it a motivic analogue of Haar measure. We give an explicit construction of the motivic Haar measure, and then prove that the result is independent of all the choices that are made in the process.