PBW bases for $\imath$quantum groups

We establish PBW type bases for $\imath$quantum groups of arbitrary finite type, using the relative braid group symmetries. Explicit formulas for root vectors are provided for $\imath$quantum groups of each rank 1 type. We show that our PBW type bases give rise to integral bases for the modified $\imath$quantum groups. The leading terms of our bases can be identified with the usual PBW bases in the theory of quantum groups.
Comment: 33 pages; comments are welcome