:root {
  color-scheme: light;
  --ink: #111827;
  --muted: #566273;
  --line: #dbe3ef;
  --paper: #ffffff;
  --wash: #f5f7fb;
  --deep: #061a3b;
  --teal: #2d6ee4;
  --gold: #e6504b;
  --hero-cream: #f5f1ef;
  --hero-gold: #ff6b63;
  --brick: #e6504b;
  --shadow: 0 18px 48px rgba(6, 26, 59, 0.12);
}

* {
  box-sizing: border-box;
}

html {
  scroll-behavior: smooth;
}

body {
  margin: 0;
  color: var(--ink);
  background: var(--wash);
  font-family:
    Inter, ui-sans-serif, system-ui, -apple-system, BlinkMacSystemFont, "Segoe UI",
    sans-serif;
  line-height: 1.6;
}

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

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

.site-header {
  position: fixed;
  top: 0;
  left: 0;
  z-index: 20;
  display: flex;
  align-items: center;
  justify-content: space-between;
  width: 100%;
  padding: 18px clamp(18px, 5vw, 60px);
  color: #f9fffd;
  background: linear-gradient(180deg, rgba(3, 13, 33, 0.82), rgba(3, 13, 33, 0));
}

.brand {
  display: inline-flex;
  align-items: center;
  gap: 10px;
  font-weight: 800;
  letter-spacing: 0;
}

.brand img {
  width: 32px;
  height: 32px;
  border: 1px solid rgba(255, 255, 255, 0.22);
  border-radius: 9px;
  box-shadow: 0 8px 20px rgba(0, 0, 0, 0.18);
}

.site-header nav {
  display: flex;
  gap: clamp(14px, 3vw, 30px);
  font-size: 0.95rem;
  font-weight: 650;
}

.site-header nav a {
  opacity: 0.86;
}

.site-header nav a:hover {
  opacity: 1;
}

.hero {
  position: relative;
  min-height: clamp(580px, 72vh, 650px);
  overflow: hidden;
  color: #f9fffd;
  background: var(--deep);
}

.hero-media {
  position: absolute;
  inset: 0;
  width: 100%;
  height: 100%;
  object-fit: cover;
}

.hero-shade {
  position: absolute;
  inset: 0;
  background:
    linear-gradient(180deg, rgba(3, 13, 33, 0.68) 0%, rgba(3, 13, 33, 0.12) 26%, rgba(3, 13, 33, 0.12) 72%, rgba(3, 13, 33, 0.74) 100%),
    linear-gradient(90deg, rgba(3, 13, 33, 0.9) 0%, rgba(3, 13, 33, 0.6) 43%, rgba(3, 13, 33, 0.08) 100%),
    linear-gradient(0deg, rgba(3, 13, 33, 0.45), rgba(3, 13, 33, 0.1));
}

.hero-content {
  position: relative;
  z-index: 2;
  display: flex;
  flex-direction: column;
  justify-content: center;
  min-height: clamp(580px, 72vh, 650px);
  width: min(1040px, calc(100% - 36px));
  margin: 0 auto;
  padding: 76px 0 48px;
}

.hero-copy {
  max-width: 820px;
  min-width: 0;
}

.section-kicker {
  margin: 0 0 14px;
  color: var(--gold);
  font-size: 0.78rem;
  font-weight: 800;
  letter-spacing: 0.12em;
  text-transform: uppercase;
}

.hero h1 {
  display: flex;
  flex-wrap: wrap;
  align-items: baseline;
  gap: clamp(3px, 0.8vw, 10px);
  margin: 0;
  font-family:
    "Avenir Next", Inter, ui-sans-serif, system-ui, -apple-system,
    BlinkMacSystemFont, "Segoe UI", sans-serif;
  font-size: clamp(4.25rem, 11vw, 8.8rem);
  font-weight: 850;
  line-height: 0.88;
  letter-spacing: 0;
  text-shadow:
    0 1px 0 rgba(255, 255, 255, 0.18),
    0 18px 44px rgba(0, 0, 0, 0.42);
}

.title-main {
  color: var(--hero-gold);
}

.title-accent {
  position: relative;
  color: var(--hero-cream);
}

.title-accent::after {
  position: absolute;
  right: 0.04em;
  bottom: 0.02em;
  left: 0.04em;
  height: 0.075em;
  border-radius: 999px;
  background: rgba(52, 127, 240, 0.42);
  content: "";
}

.subtitle {
  max-width: 760px;
  margin: 18px 0 0;
  color: rgba(246, 253, 249, 0.96);
  font-size: clamp(1.28rem, 3vw, 2.18rem);
  font-weight: 680;
  line-height: 1.16;
  text-shadow: 0 12px 30px rgba(0, 0, 0, 0.42);
}

.hero-authors {
  max-width: 760px;
  margin-top: 24px;
}

.author-list {
  display: flex;
  flex-wrap: wrap;
  align-items: baseline;
  gap: 5px 12px;
  color: rgba(249, 255, 253, 0.98);
  font-size: clamp(1rem, 1.7vw, 1.14rem);
  font-weight: 710;
}

.author {
  display: inline-flex;
  align-items: baseline;
  gap: 12px;
}

.author + .author::before {
  color: rgba(245, 241, 239, 0.58);
  content: "·";
}

.author-list a {
  text-decoration-line: underline;
  text-decoration-color: rgba(255, 107, 99, 0.66);
  text-decoration-thickness: 2px;
  text-underline-offset: 4px;
}

.author-list a:hover,
.author-list a:focus-visible {
  color: #ffffff;
  text-decoration-color: #ff6b63;
}

.author-list sup,
.author-notes sup {
  color: #ff8b85;
  font-size: 0.7em;
  font-weight: 850;
}

.author-affiliations {
  display: flex;
  flex-wrap: wrap;
  gap: 4px 18px;
  margin-top: 13px;
  color: rgba(239, 245, 255, 0.86);
  font-size: 0.86rem;
  line-height: 1.45;
}

.author-affiliations span {
  display: inline-flex;
  align-items: baseline;
  gap: 4px;
}

.author-affiliations sup {
  color: #aecaff;
  font-size: 0.72em;
  font-weight: 850;
}

.author-notes {
  display: flex;
  flex-wrap: wrap;
  gap: 4px 16px;
  margin: 7px 0 0;
  color: rgba(236, 247, 243, 0.72);
  font-size: 0.78rem;
  line-height: 1.4;
}

.text-emphasis {
  padding: 0 0.04em;
  border-radius: 3px;
  color: #21324f;
  font-weight: 780;
  background: linear-gradient(180deg, transparent 58%, rgba(255, 107, 99, 0.22) 0);
  -webkit-box-decoration-break: clone;
  box-decoration-break: clone;
}

.text-emphasis.teal {
  color: var(--teal);
  background: linear-gradient(180deg, transparent 58%, rgba(45, 110, 228, 0.18) 0);
}

.hero-actions {
  display: flex;
  flex-wrap: wrap;
  gap: 12px;
  margin-top: 32px;
}

.button {
  display: inline-flex;
  align-items: center;
  justify-content: center;
  min-height: 44px;
  padding: 11px 18px;
  border: 1px solid rgba(249, 255, 253, 0.72);
  border-radius: 8px;
  font-weight: 760;
  line-height: 1;
}

.button.primary {
  color: var(--ink);
  background: #f9fffd;
}

.button.secondary {
  color: #f9fffd;
  background: rgba(249, 255, 253, 0.1);
}

.button.code {
  color: #061a3b;
  border-color: #ff817a;
  background: #ff6b63;
}

.button:hover {
  transform: translateY(-1px);
}

.section {
  width: min(1120px, calc(100% - 36px));
  margin: 0 auto;
  padding: clamp(56px, 8vw, 96px) 0;
}

.section h2 {
  max-width: 860px;
  margin: 0;
  font-size: clamp(2rem, 4vw, 3.6rem);
  line-height: 1.04;
  letter-spacing: 0;
}

.section > p {
  max-width: 860px;
  margin: 22px 0 0;
  color: var(--muted);
  font-size: 1.06rem;
}

.intro {
  padding-top: clamp(44px, 6vw, 72px);
  padding-bottom: clamp(44px, 6vw, 72px);
}

.intro-card {
  position: relative;
  display: grid;
  grid-template-columns: clamp(220px, 26vw, 286px) minmax(0, 1fr);
  align-items: center;
  gap: clamp(36px, 5vw, 64px);
  overflow: hidden;
  padding: clamp(24px, 4vw, 46px);
  border: 1px solid var(--line);
  border-radius: 24px;
  background:
    radial-gradient(circle at 9% 12%, rgba(45, 110, 228, 0.08), transparent 34%),
    linear-gradient(135deg, #ffffff 0%, #fbfcff 100%);
  box-shadow: var(--shadow);
}

.intro-card::after {
  position: absolute;
  top: 0;
  right: 0;
  width: 42%;
  height: 3px;
  background: linear-gradient(90deg, transparent, #2d6ee4 42%, #ff6b63 100%);
  content: "";
}

.intro-logo {
  width: 100%;
}

.intro-logo img {
  width: 100%;
  aspect-ratio: 1;
  border: 1px solid rgba(6, 26, 59, 0.12);
  border-radius: 21px;
  box-shadow: 0 22px 52px rgba(6, 26, 59, 0.2);
}

.intro-copy {
  min-width: 0;
}

.intro-copy > p {
  max-width: 760px;
  margin: 22px 0 0;
  color: var(--muted);
  font-size: 1.06rem;
}

.wide-figure {
  width: 100%;
  margin: 0;
  padding: clamp(36px, 5vw, 68px) 0;
  background: var(--paper);
}

.wide-figure img {
  width: min(1280px, calc(100% - 36px));
  margin: 0 auto;
  border: 0;
  border-radius: 0;
  background: transparent;
  box-shadow: none;
}

.teaser-figure {
  padding: clamp(30px, 4vw, 52px) 0;
}

.teaser-figure img {
  width: min(1080px, calc(100% - 48px));
}

.paper-figure {
  margin: 34px 0 0;
  padding: clamp(14px, 2.2vw, 26px);
  border: 1px solid var(--line);
  border-radius: 8px;
  background: var(--paper);
  box-shadow: var(--shadow);
}

.paper-figure img {
  width: 100%;
  border: 0;
  border-radius: 4px;
  background: transparent;
  box-shadow: none;
}

.contribution-grid {
  display: grid;
  grid-template-columns: repeat(4, minmax(0, 1fr));
  gap: 16px;
  padding-top: 12px;
}

.contribution-grid article,
.metric-card,
.video-card,
.method-steps div {
  border: 1px solid var(--line);
  border-radius: 8px;
  background: var(--paper);
}

.contribution-grid article {
  min-height: 250px;
  padding: 22px;
}

.contribution-grid span {
  color: var(--teal);
  font-size: 0.8rem;
  font-weight: 850;
}

.contribution-grid h3,
.video-card h3 {
  margin: 12px 0 8px;
  font-size: 1.04rem;
  line-height: 1.22;
}

.contribution-grid p,
.method-steps p,
.metric-card span {
  margin: 0;
  color: var(--muted);
  font-size: 0.94rem;
}

.method {
  padding-top: 36px;
}

.method-steps {
  display: grid;
  grid-template-columns: repeat(4, minmax(0, 1fr));
  gap: 14px;
  margin-top: 20px;
}

.method-steps div {
  padding: 18px;
}

.method-steps strong {
  display: block;
  margin-bottom: 7px;
  color: var(--brick);
  font-size: 0.96rem;
}

.metric-grid {
  display: grid;
  grid-template-columns: repeat(3, minmax(0, 1fr));
  gap: 16px;
  margin-top: 34px;
}

.metric-card {
  padding: 24px;
}

.metric-card p {
  margin: 0;
  color: var(--muted);
  font-size: 0.9rem;
  font-weight: 700;
}

.metric-card strong {
  display: block;
  margin: 8px 0 6px;
  color: var(--teal);
  font-size: clamp(2.5rem, 6vw, 4.6rem);
  line-height: 0.95;
}

.table-wrap {
  display: grid;
  grid-template-columns: minmax(0, 1.1fr) minmax(0, 0.9fr);
  align-items: center;
  gap: 18px;
  margin-top: 22px;
  min-width: 0;
}

table {
  width: 100%;
  border-collapse: collapse;
  overflow: hidden;
  border-top: 2px solid #1b2940;
  border-bottom: 1.5px solid #1b2940;
  border-radius: 0;
  background: var(--paper);
  font-family:
    "Times New Roman", "TeX Gyre Termes", Times, Georgia, serif;
  font-size: 0.95rem;
  font-variant-numeric: tabular-nums;
}

caption {
  padding: 0 12px 12px;
  color: var(--ink);
  font-family:
    "Times New Roman", "TeX Gyre Termes", Times, Georgia, serif;
  font-size: 1.02rem;
  font-weight: 700;
  text-align: center;
}

th,
td {
  padding: 12px 14px;
  border-bottom: 1px solid #dbe3ef;
  text-align: center;
  vertical-align: top;
}

th {
  color: var(--deep);
  border-bottom: 1.5px solid #1b2940;
  font-size: 0.9rem;
  font-weight: 700;
  text-transform: none;
}

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

.analysis-figure {
  padding-top: clamp(36px, 5vw, 68px);
}

.video-grid {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 18px;
  margin-top: 34px;
}

.robot-videos {
  display: grid;
  grid-template-columns: minmax(0, 1.2fr) minmax(280px, 0.78fr);
  gap: 18px;
  margin-top: 18px;
}

.video-card {
  overflow: hidden;
}

.video-card video {
  width: 100%;
  aspect-ratio: 16 / 9;
  background: #0c1312;
  object-fit: contain;
}

.wide-videos .video-card video {
  aspect-ratio: 1456 / 640;
}

.video-card.square video {
  aspect-ratio: 1 / 1;
}

.video-card h3 {
  padding: 0 16px 16px;
}

.supp-grid {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 18px;
  margin-top: 34px;
}

.supp-grid figure {
  margin: 0;
  padding: clamp(12px, 2vw, 18px);
  border: 1px solid var(--line);
  border-radius: 8px;
  background: var(--paper);
}

.supp-grid img {
  width: 100%;
  border: 0;
  border-radius: 4px;
  background: transparent;
}

figcaption {
  margin-top: 10px;
  color: var(--muted);
  font-size: 0.9rem;
}

.bibtex pre {
  margin: 28px 0 0;
  padding: 20px;
  overflow-x: auto;
  border: 1px solid #cbd7e8;
  border-radius: 8px;
  color: #eff5ff;
  background: #08172f;
  font-size: 0.92rem;
  line-height: 1.55;
}

.site-footer {
  display: flex;
  align-items: center;
  justify-content: space-between;
  gap: 18px;
  padding: 28px clamp(18px, 5vw, 60px);
  color: rgba(249, 255, 253, 0.78);
  background: var(--deep);
  font-size: 0.9rem;
}

.footer-brand,
.footer-links {
  display: flex;
  align-items: center;
}

.footer-brand {
  gap: 12px;
}

.footer-brand img {
  width: 34px;
  height: 34px;
  border: 1px solid rgba(255, 255, 255, 0.16);
  border-radius: 9px;
}

.footer-links {
  gap: 20px;
}

.site-footer a {
  color: #f9fffd;
  font-weight: 700;
}

@media (max-width: 980px) {
  .contribution-grid,
  .method-steps {
    grid-template-columns: repeat(2, minmax(0, 1fr));
  }

  .table-wrap,
  .robot-videos {
    grid-template-columns: 1fr;
  }
}

@media (max-width: 720px) {
  .site-header {
    align-items: flex-start;
    padding: 14px 18px;
  }

  .site-header nav {
    max-width: 230px;
    justify-content: flex-end;
    flex-wrap: wrap;
    gap: 8px 14px;
    font-size: 0.82rem;
  }

  .hero {
    min-height: 88vh;
  }

  .hero-media {
    object-position: 58% center;
  }

  .hero-content {
    min-height: 88vh;
    padding-top: 88px;
    padding-bottom: 44px;
  }

  .hero h1 {
    font-size: clamp(4rem, 22vw, 6rem);
  }

  .intro-card {
    grid-template-columns: 1fr;
    gap: 28px;
    padding: 24px;
    border-radius: 18px;
  }

  .intro-logo {
    width: min(230px, 68vw);
    margin: 0 auto;
  }

  .intro-logo img {
    border-radius: 17px;
  }

  .contribution-grid,
  .method-steps,
  .metric-grid,
  .video-grid,
  .supp-grid {
    grid-template-columns: 1fr;
  }

  .contribution-grid article {
    min-height: auto;
  }

  th,
  td {
    padding: 10px;
    font-size: 0.84rem;
  }

  .table-wrap {
    display: block;
    overflow-x: auto;
    padding-bottom: 8px;
  }

  .table-wrap table {
    min-width: 620px;
    margin-bottom: 16px;
  }

  .bibtex pre {
    max-width: 100%;
  }

  .site-footer {
    flex-direction: column;
    align-items: flex-start;
  }
}