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In this paper, a new class of roughly geodesic $B$-invex sets, quasi roughly geodesic $B$-invex functions and pseudo roughly geodesic $B$-invex functions are introduced and studied on Hadamard manifolds by relaxing the definitions of geodesic convex sets and functions. Some properties of quasi roughly geodesic $B$-invex functions and pseudo roughly geodesic $B$-invex functions are proved on Hadamard manifolds. As applications, some sufficient and necessary conditions for optimal solution of the nonlinear programming problems involving the quasi roughly geodesic $B$-invex functions and the pseudo roughly geodesic $B$-invex functions are given on Hadamard manifolds. The Mond-weir type dual problems for the nonlinear programming problems are also considered on Hadamard manifolds.