:root {
  --ink: #171b1d;
  --muted: #566064;
  --paper: #f7f8f6;
  --white: #ffffff;
  --mist: #e8f1f5;
  --soft-green: #e7f1df;
  --green: #4f8f21;
  --blue: #1474ad;
  --yellow: #e4a927;
  --line: #cbd3d3;
  --max-width: 1180px;
  --header-height: 68px;
}

* {
  box-sizing: border-box;
}

html {
  scroll-behavior: smooth;
  scroll-padding-top: calc(var(--header-height) + 24px);
}

body {
  margin: 0;
  color: var(--ink);
  background: var(--paper);
  font-family: Arial, Helvetica, sans-serif;
  font-size: 16px;
  line-height: 1.55;
  letter-spacing: 0;
  text-rendering: optimizeLegibility;
}

body.menu-open {
  overflow: hidden;
}

a {
  color: inherit;
  text-decoration: none;
}

button,
a {
  -webkit-tap-highlight-color: transparent;
}

button:focus-visible,
a:focus-visible,
[tabindex]:focus-visible {
  outline: 3px solid var(--yellow);
  outline-offset: 3px;
}

img {
  display: block;
  max-width: 100%;
}

.site-header {
  position: sticky;
  top: 0;
  z-index: 100;
  height: var(--header-height);
  display: flex;
  align-items: center;
  justify-content: space-between;
  padding: 0 max(24px, calc((100vw - var(--max-width)) / 2));
  background: #f7f8f6;
  border-bottom: 1px solid rgba(23, 27, 29, 0.14);
}

.brand {
  display: inline-flex;
  align-items: center;
  gap: 10px;
  font-weight: 800;
  font-size: 18px;
}

.brand-mark {
  display: grid;
  place-items: center;
  width: 30px;
  height: 30px;
  color: var(--white);
  background: var(--ink);
  border-radius: 3px;
  font-family: Georgia, "Times New Roman", serif;
  font-size: 20px;
}

.site-nav {
  display: flex;
  align-items: center;
  gap: 30px;
}

.site-nav a {
  position: relative;
  color: #3f474a;
  font-size: 14px;
  font-weight: 700;
}

.site-nav a::after {
  content: "";
  position: absolute;
  right: 0;
  bottom: -10px;
  left: 0;
  height: 2px;
  background: var(--green);
  transform: scaleX(0);
  transform-origin: left;
  transition: transform 180ms ease;
}

.site-nav a:hover::after,
.site-nav a.active::after {
  transform: scaleX(1);
}

.menu-toggle {
  display: none;
  width: 40px;
  height: 40px;
  padding: 0;
  color: var(--ink);
  background: transparent;
  border: 0;
  cursor: pointer;
}

.menu-toggle svg,
.button svg,
.source-links svg,
.copy-button svg {
  width: 18px;
  height: 18px;
  stroke-width: 1.8;
}

.hero {
  position: relative;
  min-height: 540px;
  height: calc(100svh - 96px);
  max-height: 760px;
  overflow: hidden;
  background: #f2f4f1;
  border-bottom: 1px solid var(--line);
}

.hero-image {
  position: absolute;
  inset: 0;
  background-image: url("assets/hero-robot.jpg");
  background-repeat: no-repeat;
  background-position: right center;
  background-size: auto 94%;
  opacity: 0.96;
}

.hero-inner {
  position: relative;
  z-index: 1;
  width: min(var(--max-width), calc(100% - 48px));
  height: 100%;
  margin: 0 auto;
  padding: 62px 0 48px;
  display: flex;
  flex-direction: column;
  justify-content: center;
  align-items: flex-start;
}

.eyebrow,
.section-index {
  margin: 0 0 12px;
  color: var(--green);
  font-size: 12px;
  font-weight: 800;
  text-transform: uppercase;
}

.hero h1 {
  margin: 0;
  font-family: Georgia, "Times New Roman", serif;
  font-size: 88px;
  font-weight: 500;
  line-height: 0.95;
}

.hero-subtitle {
  max-width: 690px;
  margin: 20px 0 0;
  font-family: Georgia, "Times New Roman", serif;
  font-size: 30px;
  font-weight: 600;
  line-height: 1.14;
}

.hero-summary {
  max-width: 590px;
  margin: 18px 0 0;
  color: #3f484b;
  font-size: 16px;
}

.authors {
  max-width: 660px;
  margin-top: 18px;
  display: flex;
  flex-wrap: wrap;
  gap: 3px 14px;
  font-size: 14px;
  font-weight: 700;
}

.authors sup,
.affiliations sup {
  color: var(--green);
}

.authors a {
  text-decoration: underline;
  text-decoration-color: transparent;
  text-underline-offset: 3px;
  transition: color 160ms ease, text-decoration-color 160ms ease;
}

.authors a:hover,
.authors a:focus-visible {
  color: var(--green);
  text-decoration-color: currentColor;
}

.affiliations {
  margin: 7px 0 0;
  color: var(--muted);
  font-size: 13px;
}

.affiliations small {
  font-size: 11px;
}

.hero-actions {
  margin-top: 20px;
  display: flex;
  flex-wrap: wrap;
  gap: 10px;
}

.button {
  min-height: 42px;
  padding: 10px 16px;
  display: inline-flex;
  align-items: center;
  justify-content: center;
  gap: 8px;
  border: 1px solid var(--ink);
  border-radius: 4px;
  font-size: 14px;
  font-weight: 800;
  transition: color 160ms ease, background 160ms ease, transform 160ms ease;
}

.button:hover {
  transform: translateY(-2px);
}

.button-primary {
  color: var(--white);
  background: var(--ink);
}

.button-primary:hover {
  background: var(--blue);
  border-color: var(--blue);
}

.button-secondary {
  background: rgba(247, 248, 246, 0.86);
}

.button-secondary:hover {
  color: var(--white);
  background: var(--ink);
}

.metrics {
  color: var(--white);
  background: var(--ink);
}

.metrics-inner {
  width: min(var(--max-width), calc(100% - 48px));
  margin: 0 auto;
  display: grid;
  grid-template-columns: repeat(4, 1fr);
}

.metric {
  min-height: 138px;
  padding: 30px 32px;
  display: flex;
  flex-direction: column;
  justify-content: center;
  border-left: 1px solid rgba(255, 255, 255, 0.18);
}

.metric:last-child {
  border-right: 1px solid rgba(255, 255, 255, 0.18);
}

.metric strong {
  font-family: Georgia, "Times New Roman", serif;
  font-size: 38px;
  font-weight: 500;
  line-height: 1;
}

.metric span {
  margin-top: 9px;
  color: #cbd3d3;
  font-size: 12px;
  font-weight: 700;
  text-transform: uppercase;
}

.video-showcase {
  padding: 96px 0 104px;
}

.real-world-showcase {
  color: var(--white);
  background: #111718;
}

.real-world-showcase .section-index {
  color: #9ace76;
}

.real-world-showcase .section-heading h2 {
  color: var(--white);
}

.real-world-showcase .section-heading > p:last-child {
  color: #bcc5c6;
}

.real-world-grid {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 10px;
}

.video-card {
  position: relative;
  min-width: 0;
  margin: 0;
  overflow: hidden;
  background: #050708;
  border: 1px solid rgba(255, 255, 255, 0.22);
  border-radius: 4px;
}

.real-world-card {
  aspect-ratio: 16 / 9;
}

.real-world-card video {
  display: block;
  width: 100%;
  height: 100%;
  object-fit: cover;
  background: #050708;
}

.real-world-card figcaption {
  position: absolute;
  top: 12px;
  left: 12px;
  z-index: 1;
  padding: 8px 10px;
  display: inline-flex;
  align-items: center;
  gap: 12px;
  color: var(--white);
  background: rgba(17, 23, 24, 0.86);
  border: 1px solid rgba(255, 255, 255, 0.24);
  border-radius: 3px;
  font-size: 13px;
  font-weight: 700;
  pointer-events: none;
}

.real-world-card figcaption strong {
  color: #a7d67e;
  font-variant-numeric: tabular-nums;
}

.section {
  padding: 104px 0;
}

.section-light {
  background: var(--paper);
}

.section-paper {
  background: var(--white);
}

.section-results {
  background: var(--mist);
}

.section-inner {
  width: min(var(--max-width), calc(100% - 48px));
  margin: 0 auto;
}

.section-heading {
  max-width: 830px;
  margin-bottom: 52px;
}

.section-heading.compact {
  max-width: 620px;
}

.section-heading h2,
.open-source h2 {
  margin: 0;
  font-family: Georgia, "Times New Roman", serif;
  font-size: 46px;
  font-weight: 500;
  line-height: 1.1;
}

.section-heading > p:last-child,
.open-source p {
  margin: 18px 0 0;
  color: var(--muted);
  font-size: 18px;
}

.paper-figure {
  margin: 0;
}

.paper-figure img {
  width: 100%;
  height: auto;
  background: var(--white);
  border: 1px solid var(--line);
}

.paper-figure figcaption {
  margin-top: 14px;
  color: var(--muted);
  font-family: Georgia, "Times New Roman", serif;
  font-size: 15px;
  text-align: center;
}

.principles {
  margin-top: 62px;
  display: grid;
  grid-template-columns: repeat(3, 1fr);
  border-top: 1px solid var(--line);
  border-bottom: 1px solid var(--line);
}

.principles article {
  padding: 32px 36px 34px 0;
}

.principles article + article {
  padding-left: 36px;
  border-left: 1px solid var(--line);
}

.principles span {
  color: var(--green);
  font-family: Georgia, "Times New Roman", serif;
  font-size: 15px;
}

.principles h3,
.benchmark h3 {
  margin: 12px 0 8px;
  font-size: 19px;
}

.principles p,
.method-notes p,
.benchmark-note {
  margin: 0;
  color: var(--muted);
}

.method-layout {
  display: grid;
  grid-template-columns: minmax(0, 3fr) minmax(250px, 1fr);
  gap: 56px;
  align-items: center;
}

.method-notes {
  border-top: 1px solid var(--line);
}

.method-notes > div {
  padding: 24px 0;
  border-bottom: 1px solid var(--line);
}

.method-notes strong {
  display: block;
  margin-bottom: 6px;
  font-size: 15px;
}

.table-wrap {
  overflow-x: auto;
  border-top: 2px solid var(--ink);
  border-bottom: 2px solid var(--ink);
}

table {
  width: 100%;
  min-width: 760px;
  border-collapse: collapse;
  background: rgba(255, 255, 255, 0.56);
  font-variant-numeric: tabular-nums;
}

th,
td {
  padding: 15px 18px;
  text-align: right;
  border-bottom: 1px solid rgba(23, 27, 29, 0.14);
}

th:first-child,
td:first-child {
  text-align: left;
}

th {
  color: var(--muted);
  font-size: 12px;
  text-transform: uppercase;
}

tbody tr:last-child td {
  border-bottom: 0;
}

.ours-row {
  font-weight: 800;
  background: var(--soft-green);
}

.ours-row td:last-child {
  color: var(--green);
}

.benchmark-split {
  margin-top: 72px;
  display: grid;
  grid-template-columns: 1fr 1fr;
  border-top: 1px solid var(--line);
  border-bottom: 1px solid var(--line);
}

.benchmark {
  padding: 36px 44px 42px 0;
}

.benchmark + .benchmark {
  padding-right: 0;
  padding-left: 44px;
  border-left: 1px solid var(--line);
}

.benchmark-title {
  display: flex;
  align-items: flex-start;
  justify-content: space-between;
  gap: 24px;
}

.benchmark-title .section-index {
  margin-bottom: 3px;
}

.benchmark-title h3 {
  margin-top: 0;
}

.benchmark-title > strong {
  color: var(--green);
  font-family: Georgia, "Times New Roman", serif;
  font-size: 38px;
  font-weight: 500;
}

.score-bars,
.comparison-bars {
  margin-top: 28px;
}

.score-row {
  display: grid;
  grid-template-columns: 62px 1fr 42px;
  gap: 12px;
  align-items: center;
  margin: 13px 0;
  font-size: 13px;
}

.score-track {
  height: 8px;
  overflow: hidden;
  background: rgba(23, 27, 29, 0.12);
}

.score-track i {
  display: block;
  width: var(--score);
  height: 100%;
  background: var(--blue);
  transform: scaleX(0);
  transform-origin: left;
  transition: transform 700ms ease;
}

.is-visible .score-track i,
.is-visible.comparison-bars div i {
  transform: scaleX(1);
}

.score-row b,
.comparison-bars b {
  font-variant-numeric: tabular-nums;
  text-align: right;
}

.comparison-bars > div {
  display: grid;
  grid-template-columns: 92px 1fr 42px;
  gap: 12px;
  align-items: center;
  margin: 14px 0;
  font-size: 13px;
}

.comparison-bars i {
  display: block;
  width: var(--score);
  height: 14px;
  background: var(--yellow);
  transform: scaleX(0);
  transform-origin: left;
  transition: transform 700ms ease;
}

.comparison-bars > div:first-child i {
  background: var(--green);
}

.benchmark-note {
  margin-top: 24px;
  font-size: 13px;
}

.simulation-showcase {
  background: #eef3f4;
}

.simulation-pair {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 16px;
  align-items: start;
}

.simulation-block {
  min-width: 0;
  padding: 14px;
  background: var(--white);
  border: 1px solid var(--line);
  border-radius: 4px;
}

.simulation-heading {
  min-height: 66px;
  display: flex;
  align-items: flex-start;
  justify-content: space-between;
  gap: 18px;
}

.simulation-heading .section-index {
  margin-bottom: 2px;
}

.simulation-heading h3 {
  margin: 0;
  font-family: Georgia, "Times New Roman", serif;
  font-size: 24px;
  font-weight: 500;
}

.simulation-heading > strong {
  color: var(--green);
  font-size: 12px;
  text-transform: uppercase;
  white-space: nowrap;
}

.video-grid {
  display: grid;
  grid-template-columns: repeat(10, minmax(0, 1fr));
  gap: 2px;
  padding: 2px;
  overflow: hidden;
  background: #111718;
  border: 1px solid #111718;
  contain: layout paint;
}

.video-grid video {
  display: block;
  width: 100%;
  aspect-ratio: 1;
  object-fit: cover;
  background: #050708;
}

.robotwin-grid video {
  aspect-ratio: 4 / 3;
}

.task-results {
  display: grid;
  grid-template-columns: repeat(4, 1fr);
  margin-top: 42px;
  border-top: 1px solid var(--line);
  border-bottom: 1px solid var(--line);
}

.task-results > div {
  min-height: 112px;
  padding: 24px;
  display: flex;
  flex-direction: column;
  justify-content: space-between;
}

.task-results > div + div {
  border-left: 1px solid var(--line);
}

.task-results span {
  color: var(--muted);
  font-size: 13px;
}

.task-results strong {
  font-family: Georgia, "Times New Roman", serif;
  font-size: 30px;
  font-weight: 500;
}

.open-source {
  padding: 88px 0;
  color: var(--white);
  background: var(--ink);
}

.open-source-inner {
  display: grid;
  grid-template-columns: minmax(0, 1fr) minmax(420px, 0.82fr);
  gap: 84px;
  align-items: center;
}

.open-source .section-index {
  color: #9ace76;
}

.open-source p {
  color: #bcc5c6;
}

.source-links {
  border-top: 1px solid rgba(255, 255, 255, 0.24);
}

.source-links a {
  min-height: 86px;
  padding: 18px 0;
  display: flex;
  align-items: center;
  justify-content: space-between;
  border-bottom: 1px solid rgba(255, 255, 255, 0.24);
  transition: color 160ms ease, padding 160ms ease;
}

.source-links a:hover {
  padding-left: 12px;
  color: #9ace76;
}

.source-links span {
  display: flex;
  flex-direction: column;
  font-family: Georgia, "Times New Roman", serif;
  font-size: 22px;
}

.source-links small {
  margin-bottom: 2px;
  color: #9ea9aa;
  font-family: Arial, Helvetica, sans-serif;
  font-size: 10px;
  font-weight: 800;
  text-transform: uppercase;
}

.citation-layout {
  display: grid;
  grid-template-columns: minmax(260px, 0.7fr) minmax(0, 1.3fr);
  gap: 72px;
  align-items: start;
}

.citation-layout > * {
  min-width: 0;
}

.citation-layout .section-heading {
  margin-bottom: 0;
}

.bibtex-wrap {
  position: relative;
}

.bibtex-wrap pre {
  margin: 0;
  padding: 30px;
  overflow-x: auto;
  color: #e9efef;
  background: #202628;
  border-radius: 4px;
  font-family: "Courier New", Courier, monospace;
  font-size: 13px;
  line-height: 1.6;
  white-space: pre;
}

.copy-button {
  position: absolute;
  top: 12px;
  right: 12px;
  z-index: 1;
  min-height: 36px;
  padding: 7px 11px;
  display: inline-flex;
  align-items: center;
  gap: 7px;
  color: var(--white);
  background: #384144;
  border: 1px solid #566164;
  border-radius: 3px;
  font-size: 12px;
  font-weight: 700;
  cursor: pointer;
}

.copy-button:hover {
  background: var(--green);
  border-color: var(--green);
}

footer {
  min-height: 84px;
  padding: 22px max(24px, calc((100vw - var(--max-width)) / 2));
  display: flex;
  align-items: center;
  justify-content: space-between;
  gap: 24px;
  color: var(--muted);
  background: var(--paper);
  border-top: 1px solid var(--line);
  font-size: 12px;
}

footer span:first-child {
  color: var(--ink);
  font-size: 15px;
  font-weight: 800;
}

.reveal {
  opacity: 0;
  transform: translateY(18px);
  transition: opacity 520ms ease, transform 520ms ease;
}

.reveal.is-visible {
  opacity: 1;
  transform: translateY(0);
}

@media (max-width: 1060px) {
  .site-nav {
    gap: 20px;
  }

  .hero-image {
    background-size: auto 78%;
    background-position: 118% center;
    opacity: 0.58;
  }

  .hero-summary,
  .authors,
  .affiliations {
    max-width: 560px;
  }

  .method-layout {
    grid-template-columns: 1fr;
  }

  .method-notes {
    display: grid;
    grid-template-columns: repeat(3, 1fr);
    border-bottom: 1px solid var(--line);
  }

  .method-notes > div {
    padding-right: 24px;
    border-bottom: 0;
  }

  .method-notes > div + div {
    padding-left: 24px;
    border-left: 1px solid var(--line);
  }

  .open-source-inner {
    grid-template-columns: 1fr;
    gap: 44px;
  }

  .simulation-pair {
    grid-template-columns: 1fr;
  }
}

@media (max-width: 820px) {
  :root {
    --header-height: 62px;
  }

  .site-header {
    padding: 0 20px;
  }

  .menu-toggle {
    display: grid;
    place-items: center;
  }

  .site-nav {
    position: fixed;
    top: var(--header-height);
    right: 0;
    bottom: 0;
    left: 0;
    padding: 28px 24px;
    display: none;
    flex-direction: column;
    align-items: stretch;
    gap: 0;
    background: var(--paper);
  }

  .menu-open .site-nav {
    display: flex;
  }

  .site-nav a {
    padding: 18px 0;
    border-bottom: 1px solid var(--line);
    font-family: Georgia, "Times New Roman", serif;
    font-size: 26px;
    font-weight: 500;
  }

  .site-nav a::after {
    display: none;
  }

  .hero {
    height: calc(100svh - 84px);
    min-height: 580px;
    max-height: 760px;
  }

  .hero-inner {
    width: calc(100% - 40px);
    padding-top: 38px;
    justify-content: flex-start;
  }

  .hero-image {
    background-size: auto 47%;
    background-position: 110% bottom;
    opacity: 0.82;
  }

  .hero h1 {
    font-size: 58px;
  }

  .hero-subtitle {
    max-width: 620px;
    font-size: 25px;
  }

  .hero-summary {
    max-width: 510px;
    font-size: 14px;
  }

  .authors {
    max-width: 520px;
    font-size: 12px;
  }

  .affiliations {
    max-width: 520px;
    font-size: 11px;
  }

  .metrics-inner {
    width: 100%;
    grid-template-columns: 1fr 1fr;
  }

  .metric,
  .metric:last-child {
    min-height: 114px;
    padding: 24px;
    border-right: 0;
    border-bottom: 1px solid rgba(255, 255, 255, 0.18);
  }

  .metric:nth-child(odd) {
    border-left: 0;
  }

  .metric strong {
    font-size: 31px;
  }

  .section {
    padding: 78px 0;
  }

  .video-showcase {
    padding: 76px 0 82px;
  }

  .section-inner {
    width: calc(100% - 40px);
  }

  .section-heading h2,
  .open-source h2 {
    font-size: 36px;
  }

  .section-heading > p:last-child,
  .open-source p {
    font-size: 16px;
  }

  .principles,
  .benchmark-split,
  .task-results,
  .citation-layout {
    grid-template-columns: 1fr;
  }

  .principles article,
  .principles article + article {
    padding: 28px 0;
    border-left: 0;
    border-bottom: 1px solid var(--line);
  }

  .principles article:last-child {
    border-bottom: 0;
  }

  .method-notes {
    grid-template-columns: 1fr;
  }

  .method-notes > div,
  .method-notes > div + div {
    padding: 20px 0;
    border-left: 0;
    border-bottom: 1px solid var(--line);
  }

  .benchmark,
  .benchmark + .benchmark {
    padding: 32px 0;
    border-left: 0;
  }

  .benchmark + .benchmark {
    border-top: 1px solid var(--line);
  }

  .task-results > div {
    min-height: 92px;
  }

  .task-results > div + div {
    border-left: 0;
    border-top: 1px solid var(--line);
  }

  .citation-layout {
    gap: 32px;
  }

  footer {
    padding: 24px 20px;
    flex-direction: column;
    align-items: flex-start;
  }
}

@media (max-width: 520px) {
  .hero {
    min-height: 650px;
  }

  .hero h1 {
    font-size: 48px;
  }

  .hero-subtitle {
    font-size: 21px;
  }

  .hero-summary {
    max-width: 100%;
  }

  .authors {
    max-width: 100%;
    gap: 2px 10px;
  }

  .affiliations {
    max-width: 100%;
  }

  .hero-actions {
    gap: 8px;
  }

  .button {
    min-height: 40px;
    padding: 9px 12px;
  }

  .hero-image {
    background-size: auto 34%;
    background-position: 88% bottom;
    opacity: 0.76;
  }

  .metric {
    padding: 20px;
  }

  .metric strong {
    font-size: 27px;
  }

  .real-world-grid {
    grid-template-columns: 1fr;
  }

  .real-world-card figcaption {
    top: 8px;
    left: 8px;
    padding: 6px 8px;
    font-size: 11px;
  }

  .simulation-block {
    padding: 10px;
  }

  .video-grid {
    grid-template-columns: repeat(5, minmax(0, 1fr));
  }

  .paper-figure figcaption {
    text-align: left;
  }

  .benchmark-title {
    flex-direction: column;
    gap: 2px;
  }

  .open-source-inner {
    min-width: 0;
  }

  .bibtex-wrap pre {
    padding: 62px 20px 24px;
    font-size: 11px;
  }
}

@media (prefers-reduced-motion: reduce) {
  html {
    scroll-behavior: auto;
  }

  *,
  *::before,
  *::after {
    scroll-behavior: auto !important;
    transition-duration: 0.01ms !important;
    animation-duration: 0.01ms !important;
  }

  .reveal {
    opacity: 1;
    transform: none;
  }
}

/* Academic project-page theme: centered paper header and continuous research narrative. */
:root {
  --paper: #f4f7f5;
  --white: #ffffff;
  --ink: #17211f;
  --muted: #50615c;
  --line: #cbd8d4;
  --green: #197346;
  --blue: #176579;
  --yellow: #c9982f;
  --mist: #eaf2f3;
  --soft-green: #e7f2e8;
  --max-width: 1180px;
  --header-height: 66px;
}

body {
  color: var(--ink);
  background: var(--paper);
  font-family: Georgia, "Times New Roman", serif;
  line-height: 1.55;
}

.site-header {
  height: var(--header-height);
  padding: 0 max(24px, calc((100vw - var(--max-width)) / 2));
  color: var(--ink);
  background: rgba(244, 247, 245, 0.98);
  border-bottom: 1px solid rgba(23, 33, 31, 0.1);
}

.brand {
  gap: 0;
  font-family: Georgia, "Times New Roman", serif;
  font-size: 29px;
  font-weight: 500;
}

.brand-mark {
  display: none;
}

.site-nav {
  gap: 30px;
}

.site-nav a {
  padding: 22px 0 17px;
  color: #33433f;
  font-family: Georgia, "Times New Roman", serif;
  font-size: 16px;
  font-weight: 500;
}

.site-nav a::after {
  bottom: 10px;
  height: 2px;
  background: var(--green);
}

.hero {
  min-height: 0;
  height: auto;
  max-height: none;
  overflow: visible;
  background: transparent;
  border-bottom: 0;
}

.hero-inner {
  width: min(1040px, calc(100% - 48px));
  height: auto;
  padding: 48px 0 28px;
  align-items: center;
  justify-content: flex-start;
  text-align: center;
}

.hero h1 {
  color: var(--green);
  font-size: 68px;
  font-weight: 700;
  line-height: 1;
}

.hero-subtitle {
  max-width: 1020px;
  margin-top: 16px;
  color: #253432;
  font-size: 38px;
  font-weight: 500;
  line-height: 1.16;
}

.hero-summary {
  max-width: 780px;
  margin-top: 18px;
  color: var(--muted);
  font-size: 17px;
}

.hero-actions {
  margin-top: 27px;
  justify-content: center;
  gap: 12px;
}

.button {
  min-width: 106px;
  min-height: 46px;
  padding: 11px 18px;
  color: var(--white);
  background: var(--blue);
  border: 1px solid var(--blue);
  border-radius: 4px;
  box-shadow: 0 3px 8px rgba(23, 33, 31, 0.16);
  font-family: Arial, Helvetica, sans-serif;
  font-size: 14px;
}

.button-primary,
.button-secondary {
  color: var(--white);
  background: var(--green);
  border-color: var(--green);
}

.button:hover,
.button-primary:hover,
.button-secondary:hover {
  color: var(--white);
  background: var(--blue);
  border-color: var(--blue);
}

.authors {
  max-width: 930px;
  margin-top: 27px;
  justify-content: center;
  gap: 4px 12px;
  color: var(--blue);
  font-size: 16px;
  font-weight: 700;
}

.authors sup,
.affiliations sup {
  color: var(--green);
}

.affiliations {
  max-width: 900px;
  margin-top: 8px;
  color: #3f504c;
  font-size: 14px;
  text-align: center;
}

.affiliations small {
  color: var(--muted);
  font-size: 12px;
}

.video-showcase {
  padding: 18px 0 68px;
}

.real-world-showcase {
  color: var(--ink);
  background: transparent;
}

.real-world-showcase .section-heading {
  max-width: 900px;
  margin: 0 auto 30px;
  text-align: center;
}

.real-world-showcase .section-index {
  color: var(--green);
}

.real-world-showcase .section-heading h2 {
  color: var(--green);
}

.real-world-showcase .section-heading > p:last-child {
  color: var(--muted);
}

.real-world-grid {
  grid-template-columns: 1fr;
  gap: 64px;
  max-width: 1080px;
  margin: 0 auto;
}

.video-card {
  overflow: visible;
  background: transparent;
  border: 0;
  border-radius: 0;
}

.real-world-card {
  aspect-ratio: auto;
}

.real-world-card video {
  height: auto;
  aspect-ratio: 16 / 9;
  overflow: hidden;
  border: 1px solid var(--line);
  border-radius: 8px;
  box-shadow: 0 5px 14px rgba(23, 33, 31, 0.12);
}

.real-world-card figcaption {
  position: static;
  padding: 0 2px 14px;
  display: flex;
  justify-content: flex-start;
  gap: 13px;
  color: var(--ink);
  background: transparent;
  border: 0;
  text-align: left;
}

.real-world-title {
  display: inline-flex;
  align-items: baseline;
  gap: 10px;
  min-width: 0;
  flex-wrap: wrap;
}

.real-world-card .real-world-title > span {
  color: var(--green);
  font-family: Arial, Helvetica, sans-serif;
  font-size: 11px;
  font-weight: 700;
  text-transform: uppercase;
}

.real-world-card figcaption strong {
  color: var(--ink);
  font-family: Georgia, "Times New Roman", serif;
  font-size: 22px;
  font-weight: 500;
  line-height: 1.1;
}

.inference-mode {
  margin-left: auto;
  padding: 5px 8px;
  display: inline-flex;
  align-items: center;
  gap: 6px;
  flex: 0 0 auto;
  color: #305c3c;
  background: #edf6e7;
  border: 1px solid #bdd7b0;
  border-radius: 4px;
  font-family: Arial, Helvetica, sans-serif;
  font-size: 11px;
  font-weight: 700;
  letter-spacing: 0;
  line-height: 1;
  text-transform: uppercase;
  white-space: nowrap;
}

.inference-mode svg {
  width: 13px;
  height: 13px;
  stroke-width: 2.25;
}

.metrics {
  color: var(--ink);
  background: transparent;
}

.metrics-inner {
  width: min(920px, calc(100% - 48px));
  border-top: 1px solid var(--line);
  border-bottom: 1px solid var(--line);
}

.metric,
.metric:last-child {
  min-height: 98px;
  padding: 18px 26px;
  align-items: center;
  border-color: var(--line);
  text-align: center;
}

.metric strong {
  color: var(--green);
  font-size: 32px;
}

.metric span {
  margin-top: 6px;
  color: var(--muted);
  font-family: Arial, Helvetica, sans-serif;
  font-size: 10px;
}

.section,
.open-source {
  padding: 76px 0;
  color: var(--ink);
  background: transparent;
  border-top: 1px solid var(--line);
}

.section-results {
  background: #edf3f3;
}

.simulation-showcase {
  background: #f8faf9;
}

.section-inner {
  width: min(var(--max-width), calc(100% - 48px));
}

.section-heading,
.section-heading.compact {
  max-width: 1080px;
  margin-bottom: 32px;
}

.section-heading h2,
.open-source h2 {
  color: var(--green);
  font-size: 38px;
  font-weight: 500;
  line-height: 1.16;
}

.section-index {
  margin-bottom: 8px;
  color: var(--blue);
  font-family: Arial, Helvetica, sans-serif;
  font-size: 11px;
  letter-spacing: 0;
}

.section-heading > p:last-child,
.open-source p {
  max-width: 1060px;
  margin-top: 16px;
  color: #3f504c;
  font-size: 17px;
  line-height: 1.65;
}

.paper-figure img {
  border: 1px solid var(--line);
  border-radius: 8px;
  box-shadow: 0 5px 15px rgba(23, 33, 31, 0.08);
}

.paper-figure figcaption {
  color: var(--muted);
  font-size: 14px;
}

.principles {
  margin-top: 46px;
}

.paper-reading {
  max-width: 980px;
  margin: 58px auto 0;
  border-top: 1px solid var(--line);
}

.paper-reading article {
  padding: 34px 0 36px;
  border-bottom: 1px solid var(--line);
}

.paper-reading h3 {
  max-width: 820px;
  margin: 6px 0 14px;
  color: var(--ink);
  font-family: Georgia, "Times New Roman", serif;
  font-size: 28px;
  font-weight: 500;
  line-height: 1.2;
}

.paper-reading p:last-child {
  max-width: 940px;
  margin: 0;
  color: #3f504c;
  font-size: 17px;
  line-height: 1.72;
}

.principles article {
  padding-top: 26px;
  padding-bottom: 28px;
}

.principles span {
  color: var(--blue);
}

.principles h3,
.benchmark h3 {
  font-family: Georgia, "Times New Roman", serif;
  font-size: 19px;
  font-weight: 600;
}

.principles p,
.method-notes p,
.benchmark-note {
  color: var(--muted);
}

.method-layout {
  grid-template-columns: 1fr;
  gap: 28px;
}

.method-figure {
  max-width: 1100px;
  margin: 0 auto;
}

.method-notes {
  display: grid;
  grid-template-columns: repeat(3, 1fr);
  border-top: 1px solid var(--line);
  border-bottom: 1px solid var(--line);
}

.method-notes > div,
.method-notes > div + div {
  padding: 22px 26px;
  border-bottom: 0;
}

.method-notes > div + div {
  border-left: 1px solid var(--line);
}

.method-notes strong,
th,
.simulation-heading > strong {
  font-family: Arial, Helvetica, sans-serif;
}

.table-wrap {
  border-top-color: var(--green);
  border-bottom-color: var(--green);
}

table {
  background: rgba(255, 255, 255, 0.58);
}

th,
td {
  border-color: var(--line);
}

.ours-row {
  background: var(--soft-green);
}

.benchmark-split {
  margin-top: 58px;
  border-color: var(--line);
}

.benchmark + .benchmark {
  border-color: var(--line);
}

.score-track i {
  background: var(--blue);
}

.comparison-bars i {
  background: var(--yellow);
}

.comparison-bars > div:first-child i {
  background: var(--green);
}

.simulation-pair {
  gap: 28px;
}

.simulation-block {
  padding: 0;
  background: transparent;
  border: 0;
}

.simulation-heading {
  min-height: 72px;
  padding: 0 2px;
}

.simulation-heading h3 {
  color: #243431;
}

.video-grid {
  gap: 2px;
  padding: 3px;
  background: #17211f;
  border: 1px solid #17211f;
  border-radius: 6px;
  box-shadow: 0 4px 12px rgba(23, 33, 31, 0.09);
}

.task-results,
.task-results > div + div {
  border-color: var(--line);
}

.open-source-inner {
  grid-template-columns: minmax(0, 1fr) minmax(360px, 0.8fr);
  gap: 70px;
}

.open-source .section-index {
  color: var(--blue);
}

.open-source p {
  color: var(--muted);
}

.source-links {
  border-color: var(--line);
}

.source-links a {
  min-height: 74px;
  color: var(--ink);
  border-color: var(--line);
}

.source-links a:hover {
  color: var(--green);
}

.source-links small {
  color: var(--muted);
}

.bibtex-wrap pre {
  color: #eaf2ee;
  background: #17211f;
}

.copy-button {
  background: var(--green);
  border-color: var(--green);
}

footer {
  color: var(--muted);
  background: var(--paper);
  border-color: var(--line);
  font-family: Georgia, "Times New Roman", serif;
}

@media (max-width: 1060px) {
  .site-nav {
    gap: 22px;
  }

  .hero-subtitle {
    font-size: 34px;
  }

  .simulation-pair {
    grid-template-columns: 1fr;
  }
}

@media (max-width: 820px) {
  :root {
    --header-height: 62px;
  }

  .site-header {
    padding: 0 20px;
  }

  .brand {
    font-size: 27px;
  }

  .site-nav {
    padding: 24px;
    background: var(--paper);
  }

  .site-nav a {
    padding: 17px 0;
    font-size: 25px;
  }

  .hero,
  .hero-inner {
    min-height: 0;
    height: auto;
    max-height: none;
  }

  .hero-inner {
    width: calc(100% - 40px);
    padding: 46px 0 34px;
    align-items: center;
  }

  .hero h1 {
    font-size: 52px;
  }

  .hero-subtitle {
    max-width: 690px;
    font-size: 30px;
  }

  .hero-summary {
    max-width: 620px;
    font-size: 15px;
  }

  .authors {
    max-width: 650px;
    font-size: 14px;
  }

  .affiliations {
    max-width: 650px;
    font-size: 13px;
  }

  .video-showcase,
  .section,
  .open-source {
    padding: 60px 0;
  }

  .metrics-inner {
    width: calc(100% - 40px);
  }

  .metric,
  .metric:last-child {
    min-height: 92px;
    border-color: var(--line);
  }

  .section-inner {
    width: calc(100% - 40px);
  }

  .section-heading h2,
  .open-source h2 {
    font-size: 33px;
  }

  .section-heading > p:last-child,
  .open-source p {
    font-size: 16px;
  }

  .method-notes {
    grid-template-columns: 1fr;
  }

  .method-notes > div,
  .method-notes > div + div {
    padding: 18px 0;
    border-left: 0;
    border-bottom: 1px solid var(--line);
  }

  .method-notes > div:last-child {
    border-bottom: 0;
  }

  .open-source-inner {
    grid-template-columns: 1fr;
    gap: 34px;
  }
}

@media (max-width: 520px) {
  .hero-inner {
    padding-top: 38px;
  }

  .hero h1 {
    font-size: 46px;
  }

  .hero-subtitle {
    font-size: 25px;
    line-height: 1.18;
  }

  .hero-summary {
    font-size: 14px;
  }

  .hero-actions {
    margin-top: 23px;
  }

  .button {
    min-width: 96px;
    min-height: 43px;
    padding: 9px 13px;
  }

  .authors {
    font-size: 14px;
  }

  .affiliations {
    font-size: 12px;
  }

  .real-world-grid {
    grid-template-columns: 1fr;
    gap: 46px;
  }

  .real-world-card figcaption {
    padding: 0 0 11px;
    align-items: center;
    flex-wrap: wrap;
  }

  .inference-mode {
    margin-left: 0;
  }

  .real-world-card figcaption strong {
    font-size: 20px;
  }

  .paper-reading {
    margin-top: 42px;
  }

  .paper-reading article {
    padding: 27px 0 29px;
  }

  .paper-reading h3 {
    font-size: 24px;
  }

  .paper-reading p:last-child {
    font-size: 16px;
  }

  .metric strong {
    font-size: 27px;
  }

  .section-heading h2,
  .open-source h2 {
    font-size: 30px;
  }

  .simulation-block {
    padding: 0;
  }

  .video-grid {
    grid-template-columns: repeat(5, minmax(0, 1fr));
  }
}