Yes; you can derive mass from the representation theory of the Lie group ${\rm Spin}(3,1)$.
It's a long story, but I think I can usefully summarize it. If you need some areas further expanded, please say so in the comments.
First, a definition.
The Lie group ${\rm SO}(3,1)$ describes the world that we live in according to special relativity. It is the local gauge group of space-time, so it's the exact meaning of the geometry in your question.
The Lie group ${\rm Spin}(3,1)$ is the double cover of ${\rm SO}(3,1)$, and it's simply connected [note 1].
How does representation theory show up? Imagine you do an experiment, with some inputs $x$ and you get some output $y=f(x)$. The results should be invariant under the gauge group $G$, which might be ${\rm SO}(3)$ if we're non-relativistic or
${\rm SO}(3,1)$ if we're using special relativity. It also includes translations by ${\mathbb R}^3$ or ${\mathbb R}^4$ but these are less important to the story of mass. Anyway, invariance under $G$ means that $f(g x)=g f(x)$ for $g\in G$. That means that $f$ is actually a representation of $G$. So a fundamental particle is actually described by a representation of ${\rm SO}(3,1)$.
So why ${\rm Spin}(3,1)$? In physics, we note that we need to include so-called spin representations of ${\rm SO}(3,1)$, by which we mean representations of the double cover ${\rm Spin}(3,1)$. Phenomenologically, this is certainly true, because fermions are described by a spin representation, and they exist!
Okay, so what is the representation theory of ${\rm Spin}(3,1)$?
Let's use the sign convention $(+,-,-,-)$.
There are 3 types of representation, corresponding to a 4-momentum $p_i=(p_0, p_1, p_2, p_3)$ [note 2] with a squared-length $p^2=p_0^2-p_1^2-p_2^2-p_3^2$ for which $p^2<0$, $p^2=0$ or $p^2>0$. In each case, we look at the subgroup $H_p<G$ which fixes $p_i$, we find the representations of $H_p$, and we induce these representations back up to $G$.
This is called Mackey theory.
For $p^2<0$, we get tachyons, which may or may not be physical, but in any case we won't discuss this further. For $p^2=0$ (but $p_i$ is not the zero 4-vector), we get massless light-like particles with $H_p\cong{\rm SO}(2)$ [note 3]. The representation theory of ${\rm SO}(2)$ describes polarization. But the important case for our purposes is $p^2>0$. Here, $H_p\cong{\rm Spin}(3)$, which is the double cover of ${\rm SO}(3)$ [note 4]. The Lie group ${\rm Spin}(3)$ has one irreducible representation in each dimension. If a particle corresponds to an irreducible representation of dimension $m$, we say that the particle has spin $(m-1)/2$. If $m$ is odd (so the spin is an integer) we have a boson, otherwise we have a fermion.
We've gone on a bit of a journey into representation theory, but the important take-away for our purposes is that the representation corresponding to a massive particle depends fundamentally on the 4-momentum $p_i$ through its squared-length $p^2>0$. But the length is its mass. The 4-momentum is $p_i=(E, {\bf p})$, where $E$ is the (combined rest-mass and kinetic) energy and ${\bf p}=(p_1, p_2, p_3)$ is the non-relativistic momentum. In the rest-frame of the particle, the 4-momentum is $(E,{\bf 0})$, so $p=E$. Now the possibly most well-known equation in physics, $E=m c^2$, finishes the story and tells you that a fundamental particle must have a well-defined mass.
Notes
- [note 1]: You may see ${\rm Spin}(3,1)$ described as ${\rm SL}(2,{\mathbb C})$. These groups are isomorphic, but I find it more helpful for this story to regard this as a coincidence.
- [note 2]: Physicists actually write $p^i$ rather than $p_i$, but the meaning is essentially the same.
- [note 3]: Actually the double cover ${\rm Spin}(2)$ of ${\rm SO}(2)$, but they are isomorphic, so it's not too important.
- [note 4]: Again, ${\rm Spin}(3)$ is often described as ${\rm SU}(2)$, but for our purposes this is best regarded as a coincidence.
Further reading
- Gerald B. Folland, Quantum Field Theory: A Tourist Guide for Mathematicians