@font-face {
  font-family: "LMRomanDemi10";
  font-style: normal;
  font-weight: 400;
  src: url("../public/assets/fonts/LMRomanDemi10-Regular.otf") format("opentype");
  font-display: swap;
}

@font-face {
  font-family: "LMRomanDemi10";
  font-style: italic;
  font-weight: 400;
  src: url("../public/assets/fonts/LMRomanDemi10-Oblique.otf") format("opentype");
  font-display: swap;
}

:root {
  --ink: #172027;
  --ink-2: #27323b;
  --muted: #65717a;
  --paper: #fbfaf7;
  --surface: #ffffff;
  --surface-2: #f2f5f4;
  --section-method: #f2f6fa;
  --section-interactive: #f2f7f4;
  --line: #d9dfdc;
  --teal: #0d766d;
  --teal-2: #115e59;
  --rust: #b85235;
  --blue: #2f6380;
  --gold: #be8b24;
  --shadow: 0 18px 46px rgba(26, 39, 45, 0.14);
  --content-width: 1120px;
  font-family:
    "LMRomanDemi10", ui-serif, Georgia, "Times New Roman",
    serif;
  color: var(--ink);
  background: var(--paper);
}

* {
  box-sizing: border-box;
}

html {
  scroll-behavior: smooth;
}

body {
  margin: 0;
  min-width: 320px;
  background: var(--paper);
  color: var(--ink);
}

body::selection {
  background: rgba(13, 118, 109, 0.18);
}

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

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

button,
select {
  font: inherit;
}

.site-header {
  position: fixed;
  z-index: 20;
  top: 0;
  left: 0;
  right: 0;
  display: flex;
  align-items: center;
  justify-content: space-between;
  gap: 28px;
  padding: 18px clamp(18px, 4vw, 56px);
  color: #fff;
  transition:
    background 180ms ease,
    color 180ms ease,
    box-shadow 180ms ease;
}

.site-header.scrolled {
  color: var(--ink);
  background: rgba(251, 250, 247, 0.92);
  box-shadow: 0 8px 30px rgba(32, 40, 45, 0.1);
  backdrop-filter: blur(16px);
}

.header-brand {
  display: inline-flex;
  align-items: center;
  min-width: 0;
  color: currentColor;
  text-shadow: 0 8px 22px rgba(0, 0, 0, 0.28);
  transition:
    opacity 160ms ease,
    text-shadow 180ms ease;
}

.header-brand:hover {
  opacity: 0.82;
}

.site-header.scrolled .header-brand {
  text-shadow: none;
}

.header-wordmark {
  font-family: "LMRomanDemi10", ui-serif, Georgia, "Times New Roman", serif;
  font-size: clamp(1.32rem, 1.45vw, 1.72rem);
  font-style: italic;
  font-weight: 400;
  line-height: 1;
  white-space: nowrap;
}

.site-nav {
  display: flex;
  align-items: center;
  gap: clamp(10px, 1.4vw, 18px);
  font-size: clamp(1.06rem, 1.1vw, 1.2rem);
  font-weight: 720;
}

.site-nav a {
  display: inline-flex;
  align-items: center;
  min-height: 46px;
  border-radius: 8px;
  padding: 0 13px;
  opacity: 0.88;
  transition:
    background 160ms ease,
    opacity 160ms ease;
}

.site-nav a:hover {
  background: rgba(255, 255, 255, 0.12);
  opacity: 1;
}

.site-header.scrolled .site-nav a:hover {
  background: rgba(23, 32, 39, 0.08);
}

.hero {
  position: relative;
  min-height: 88svh;
  overflow: hidden;
  display: flex;
  align-items: flex-end;
  background: #101719;
  color: #fff;
}

.hero-media {
  position: absolute;
  inset: 0;
  width: 100%;
  height: 100%;
  object-fit: cover;
  object-position: center;
  transform: scale(1.018);
  transform-origin: left center;
}

.hero-shade {
  position: absolute;
  inset: 0;
  background:
    linear-gradient(90deg, rgba(9, 14, 16, 0.92) 0%, rgba(9, 14, 16, 0.58) 42%, rgba(9, 14, 16, 0.18) 100%),
    linear-gradient(0deg, rgba(9, 14, 16, 0.84) 0%, rgba(9, 14, 16, 0) 55%);
}

.hero-content {
  position: relative;
  z-index: 1;
  width: min(1220px, calc(100% - 36px));
  margin: 0 auto;
  padding: 146px 0 72px;
}

.venue,
.kicker,
.eyebrow {
  margin: 0;
  color: var(--teal);
  font-size: 0.76rem;
  font-weight: 780;
  letter-spacing: 0.12em;
  text-transform: uppercase;
}

.hero .venue {
  color: #8ce1d6;
  font-size: clamp(1rem, 1.5vw, 1.32rem);
  letter-spacing: 0.02em;
  line-height: 1.35;
  text-transform: none;
}

h1,
h2,
h3,
p {
  letter-spacing: 0;
}

.project-name {
  font-family: "LMRomanDemi10", ui-serif, Georgia, "Times New Roman", serif;
  font-style: italic;
}

h1 {
  width: min(1220px, 100%);
  margin: 0 0 32px;
  font-size: clamp(2.35rem, 4.55vw, 4.45rem);
  line-height: 1.02;
  font-weight: 820;
}

.title-line {
  display: block;
  white-space: nowrap;
}

.authors {
  width: min(960px, 100%);
  margin: 0;
  color: rgba(255, 255, 255, 0.84);
  font-size: clamp(1rem, 2vw, 1.22rem);
  line-height: 1.65;
}

.authors a {
  color: #78cfff;
  border-bottom: 1px solid rgba(120, 207, 255, 0.52);
}

.authors a:hover {
  color: #b9eaff;
  border-bottom-color: #b9eaff;
}

.authors sup {
  margin-left: 2px;
  color: #8ce1d6;
  font-size: 0.66em;
  font-weight: 780;
  line-height: 0;
  vertical-align: super;
}

.affiliations {
  display: flex;
  flex-wrap: wrap;
  gap: 8px 24px;
  width: min(980px, 100%);
  margin: 16px 0 0;
  padding: 0;
  list-style: none;
  color: rgba(255, 255, 255, 0.76);
  font-size: clamp(0.92rem, 1.42vw, 1.04rem);
  line-height: 1.5;
}

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

.affiliations sup {
  color: #8ce1d6;
  font-size: 0.72em;
  font-weight: 780;
  line-height: 0;
  vertical-align: super;
}

.publication-venue {
  width: min(980px, 100%);
  margin: 24px 0 0;
  color: rgba(255, 255, 255, 0.9);
  font-size: clamp(1.02rem, 1.58vw, 1.34rem);
  font-weight: 820;
  line-height: 1.35;
  text-align: left;
  text-shadow: 0 12px 26px rgba(0, 0, 0, 0.28);
}

.hero-actions {
  display: flex;
  flex-wrap: wrap;
  align-items: center;
  justify-content: flex-start;
  gap: 10px;
  width: min(980px, 100%);
  margin-top: 18px;
}

.link-block {
  display: inline-flex;
  align-items: center;
  margin-top: 5px;
  margin-bottom: 5px;
}

.button,
.tool-button {
  display: inline-flex;
  align-items: center;
  justify-content: center;
  min-height: 2.5em;
  border: 1px solid transparent;
  border-radius: 4px;
  padding: calc(0.5em - 1px) 1em;
  font-size: 1rem;
  line-height: 1.5;
  font-weight: 720;
  cursor: pointer;
  transition:
    background 160ms ease,
    border-color 160ms ease,
    transform 160ms ease,
    color 160ms ease;
}

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

.button.primary {
  color: #ffffff;
  background: var(--teal);
}

.button.ghost {
  color: #ffffff;
  border-color: rgba(255, 255, 255, 0.44);
  background: rgba(255, 255, 255, 0.1);
}

.button.is-rounded {
  border-radius: 999px;
  padding-left: 1.18em;
  padding-right: 1.18em;
}

.button.is-dark {
  color: #ffffff;
  background: #363636;
  border-color: transparent;
}

.button .icon {
  display: inline-flex;
  align-items: center;
  justify-content: center;
  width: 1.5em;
  height: 1.5em;
  margin-left: calc(-0.5em - 1px);
  margin-right: 0.35em;
}

.button .icon svg,
.button .icon i,
.button .icon img {
  display: block;
  width: 1em;
  height: 1em;
  font-size: 1em;
}

.button .icon .hf-logo {
  width: 1.15em;
  height: 1.15em;
  object-fit: contain;
}

.button-placeholder {
  opacity: 0.76;
  filter: grayscale(18%);
  cursor: not-allowed;
  pointer-events: none;
}

.publication-links .button {
  height: 42px;
  min-height: 42px;
  padding-top: 0;
  padding-bottom: 0;
}

.publication-links .button .icon {
  width: 20px;
  height: 20px;
  margin-left: -0.35em;
  margin-right: 0.42em;
}

.publication-links .button .icon svg,
.publication-links .button .icon i,
.publication-links .button .icon img {
  width: 16px;
  height: 16px;
  font-size: 16px;
  line-height: 16px;
}

.publication-links .button .icon .hf-logo {
  width: 16px;
  height: 16px;
}

.button.disabled {
  color: #ffffff;
  border-color: rgba(255, 255, 255, 0.18);
  background: #252525;
  box-shadow:
    inset 0 1px 0 rgba(255, 255, 255, 0.1),
    0 12px 28px rgba(0, 0, 0, 0.22);
  cursor: not-allowed;
  opacity: 0.92;
  pointer-events: none;
}

@media (min-width: 1800px) {
  .header-wordmark {
    font-size: clamp(1.46rem, 1.25vw, 2rem);
  }

  .site-nav {
    gap: clamp(12px, 1.25vw, 24px);
    font-size: clamp(1.14rem, 0.95vw, 1.32rem);
  }

  .hero {
    align-items: center;
  }

  .hero-content {
    --hero-gutter: clamp(260px, 13.8vw, 330px);
    --hero-meta-shift: clamp(34px, 4.6svh, 52px);
    width: min(1420px, calc(100% - var(--hero-gutter) - 56px));
    margin: 0 56px 0 var(--hero-gutter);
    padding: clamp(128px, 14svh, 180px) 0 0;
  }

  h1 {
    width: min(1420px, 100%);
    margin-bottom: 38px;
    font-size: clamp(4.55rem, 3.35vw, 5.25rem);
  }

  .authors {
    font-size: clamp(1.1rem, 1.45vw, 1.32rem);
    line-height: 1.72;
  }

  .affiliations {
    gap: 10px 28px;
    margin-top: 18px;
    font-size: clamp(1rem, 1.08vw, 1.12rem);
  }

  .publication-venue {
    margin-top: 26px;
    font-size: clamp(1.14rem, 1.34vw, 1.42rem);
  }

  .hero-actions {
    gap: 12px;
    margin-top: 22px;
  }

  .authors,
  .affiliations,
  .publication-venue,
  .hero-actions {
    transform: translateY(var(--hero-meta-shift));
  }
}


.section {
  scroll-margin-top: 112px;
  padding: clamp(64px, 8vw, 112px) clamp(18px, 4vw, 56px);
}

.section-heading,
  .abstract-layout,
  .news-panel,
  .wide-figure,
.demo-grid,
.method-grid,
.overview-copy,
.overview-notes,
.pipeline-figure,
.results-grid,
.paired-demo-list,
.completion-layout,
.citation {
  width: min(var(--content-width), 100%);
  margin-left: auto;
  margin-right: auto;
}

.section-heading {
  display: block;
  margin-bottom: 34px;
}

.section-heading.compact {
  display: block;
}

.section-heading.compact:not(:has(h2)) {
  margin-bottom: 18px;
}

.section-heading .kicker {
  margin: 0 0 10px;
  color: var(--teal);
  font-size: clamp(0.96rem, 1.05vw, 1.08rem);
}

.section-heading h2 {
  width: 100%;
  max-width: none;
  margin: 0;
  font-size: clamp(1.95rem, 3vw, 3.15rem);
  line-height: 1.06;
  font-weight: 800;
  text-align: left;
}

.overview-heading {
  align-items: start;
}

.news-section {
  padding-top: clamp(32px, 4vw, 48px);
  padding-bottom: 0;
  background: var(--paper);
}

.news-panel {
  display: grid;
  grid-template-columns: auto minmax(0, 1fr);
  gap: clamp(20px, 3.4vw, 42px);
  align-items: center;
  border: 1px solid rgba(23, 32, 39, 0.1);
  border-left: 3px solid rgba(13, 118, 109, 0.75);
  border-radius: 8px;
  padding: clamp(14px, 1.8vw, 20px) clamp(18px, 2.4vw, 26px);
  background: #f6f4ef;
  box-shadow: 0 10px 28px rgba(26, 39, 45, 0.045);
  font-style: italic;
}

.news-panel .kicker {
  margin: 1px 0 0;
  color: var(--teal);
  font-size: clamp(0.94rem, 1vw, 1.04rem);
}

.news-list {
  display: flex;
  flex-wrap: wrap;
  gap: 12px clamp(22px, 3.6vw, 46px);
  margin: 0;
  padding: 0;
  list-style: none;
}

.news-item {
  display: grid;
  grid-template-columns: 240px max-content;
  gap: 28px;
  align-items: baseline;
  color: #56616a;
  font-size: clamp(0.98rem, 1.04vw, 1.07rem);
  line-height: 1.5;
  white-space: nowrap;
}

.news-date {
  color: #3f4c54;
  font-size: clamp(0.9rem, 0.96vw, 0.98rem);
  font-weight: 800;
  line-height: 1.45;
}

.abstract-section {
  padding-top: clamp(40px, 5vw, 64px);
  padding-bottom: clamp(24px, 4vw, 44px);
  background: var(--paper);
}

.abstract-layout {
  position: relative;
  display: block;
  width: min(var(--content-width), 100%);
  border-top: 1px solid rgba(23, 32, 39, 0.14);
  padding: clamp(34px, 4.5vw, 58px) 0 clamp(18px, 3vw, 28px);
}

.abstract-label {
  margin-bottom: 18px;
}

.abstract-label p {
  margin: 0;
  color: var(--teal);
  font-size: clamp(0.96rem, 1.05vw, 1.08rem);
  line-height: 1.2;
  font-style: normal;
  font-weight: 780;
  letter-spacing: 0.12em;
  text-transform: uppercase;
}

.abstract-main {
  display: block;
}

.abstract-main h2 {
  width: 100%;
  max-width: none;
  margin: 0 0 clamp(24px, 3.4vw, 36px);
  color: var(--ink);
  font-size: clamp(1.95rem, 3vw, 3.15rem);
  line-height: 1;
  font-weight: 800;
  text-align: left;
}

.abstract-main h2 span {
  display: block;
}

.abstract-copy {
  grid-column: auto;
  width: 100%;
  max-width: none;
  color: var(--ink-2);
  font-size: clamp(1rem, 1.1vw, 1.1rem);
  line-height: 1.76;
  text-wrap: pretty;
}

.abstract-copy p {
  margin: 0 0 1.05em;
}

.abstract-copy p:last-child {
  margin-bottom: 0;
}

.abstract-copy p:first-child::first-letter {
  float: left;
  margin: 0.08em 0.12em 0.01em 0;
  color: var(--teal-2);
  font-size: clamp(3.3rem, 4.2vw, 4.4rem);
  line-height: 0.78;
  font-weight: 400;
}

.figure-section {
  padding-top: 0;
  background: var(--paper);
}

.wide-figure {
  margin-top: 0;
  margin-bottom: 0;
}

.method-grid figure,
.results-grid figure {
  margin: 0;
}

figure img {
  width: 100%;
  border: 1px solid rgba(217, 223, 220, 0.56);
  border-radius: 6px;
  background: #fff;
  box-shadow:
    0 1px 0 rgba(255, 255, 255, 0.9),
    0 14px 42px rgba(39, 50, 59, 0.055);
}

figcaption {
  width: 100%;
  max-width: none;
  margin-top: 14px;
  color: var(--muted);
  font-size: clamp(0.94rem, 1vw, 1.02rem);
  line-height: 1.58;
  text-wrap: pretty;
}

figcaption strong {
  color: var(--ink);
}

.pipeline-image-wrap {
  position: relative;
  padding-bottom: clamp(24px, 2.8vw, 34px);
}

.pipeline-stage-labels {
  position: absolute;
  left: 0;
  right: 0;
  bottom: 0;
  color: var(--ink-2);
  font-size: clamp(0.82rem, 0.9vw, 0.96rem);
  font-weight: 760;
  line-height: 1.25;
}

.pipeline-stage-labels span {
  position: absolute;
  bottom: 0;
  white-space: nowrap;
}

.pipeline-stage-labels span:nth-child(1) {
  left: 10%;
}

.pipeline-stage-labels span:nth-child(2) {
  left: 32%;
}

.pipeline-stage-labels span:nth-child(3) {
  left: 57%;
}

.pipeline-stage-labels span:nth-child(4) {
  left: 83%;
}

.pipeline-stage-labels em {
  color: var(--teal-2);
  font-style: normal;
}

.method-section,
.results-section {
  background: #fff;
}

.overview-section {
  box-shadow: inset 0 1px 0 rgba(23, 32, 39, 0.1);
}

.pipeline-one-section {
  background: linear-gradient(180deg, #f8fbfd 0%, var(--section-method) 100%);
  box-shadow:
    inset 0 1px 0 rgba(47, 99, 128, 0.08),
    inset 0 -1px 0 rgba(47, 99, 128, 0.08);
}

.overview-copy {
  max-width: none;
  margin-bottom: 24px;
  margin-left: auto;
  margin-right: auto;
  color: var(--ink-2);
  font-size: clamp(1.1rem, 1.28vw, 1.28rem);
  line-height: 1.7;
  text-wrap: pretty;
}

.overview-copy p {
  margin: 0 0 0.86em;
}

.overview-copy p:last-child {
  margin-bottom: 0;
}

.overview-copy-secondary {
  margin-bottom: 30px;
}

.pipeline-one-section .overview-copy {
  font-size: clamp(1rem, 1.12vw, 1.12rem);
  line-height: 1.7;
}

.overview-notes {
  display: grid;
  grid-template-columns: repeat(3, minmax(0, 1fr));
  gap: 14px;
  max-width: none;
  margin: 0 auto 30px;
}

.overview-note {
  min-height: 142px;
  border: 1px solid rgba(23, 32, 39, 0.12);
  border-top: 3px solid rgba(13, 118, 109, 0.62);
  border-radius: 8px;
  padding: 18px clamp(18px, 2.2vw, 26px);
  background: rgba(246, 249, 247, 0.82);
}

.overview-note:first-child {
  padding-left: clamp(18px, 2.2vw, 26px);
}

.overview-note:last-child {
  padding-right: clamp(18px, 2.2vw, 26px);
}

.note-label {
  margin: 0 0 10px;
  color: var(--teal-2);
  font-size: clamp(0.8rem, 0.9vw, 0.88rem);
  font-weight: 800;
  letter-spacing: 0.12em;
  text-transform: uppercase;
}

.overview-note p:last-child {
  margin: 0;
  color: var(--muted);
  font-size: clamp(1.02rem, 1.1vw, 1.1rem);
  line-height: 1.55;
}

.pipeline-figure {
  margin-top: 0;
  margin-bottom: 0;
}

@media (min-width: 900px) {
  .abstract-copy p,
  .overview-copy p,
  .completion-copy p,
  figcaption {
    hyphens: auto;
    text-align: justify;
    text-align-last: left;
  }
}

.method-grid {
  display: grid;
  grid-template-columns: minmax(0, 1.15fr) minmax(300px, 0.85fr);
  gap: 22px;
  align-items: start;
}

.viewer-section {
  background: var(--section-interactive);
}

.demo-grid {
  display: grid;
  grid-template-columns: minmax(0, 1fr) minmax(280px, 0.34fr);
  grid-template-areas:
    "viewer controls"
    "video video";
  gap: 18px;
  align-items: start;
}

.viewer-shell,
.control-panel,
.case-video,
.paired-video-panel,
.urdf-preview-card,
.citation {
  border: 1px solid var(--line);
  border-radius: 8px;
  background: rgba(255, 255, 255, 0.94);
  box-shadow: var(--shadow);
}

.viewer-shell {
  grid-area: viewer;
  align-self: start;
  overflow: hidden;
}

.viewer-toolbar {
  display: flex;
  align-items: center;
  gap: 10px;
  padding: 10px 12px;
  border-bottom: 1px solid var(--line);
  background: #fff;
}

.viewer-model-select {
  display: inline-flex;
  align-items: center;
  gap: 8px;
}

.select-label {
  color: var(--muted);
  font-size: 0.86rem;
  font-weight: 760;
}

select {
  min-width: 270px;
  height: 36px;
  border: 1px solid var(--line);
  border-radius: 7px;
  padding: 0 34px 0 12px;
  background: var(--surface);
  color: var(--ink);
  font-weight: 650;
}

.tool-button {
  min-height: 36px;
  border-color: var(--line);
  background: var(--surface-2);
  color: var(--ink);
  font-size: 0.86rem;
}

.tool-button.active {
  color: #fff;
  border-color: var(--teal);
  background: var(--teal);
}

.canvas-wrap {
  position: relative;
  width: 100%;
  aspect-ratio: 3 / 2;
  background:
    linear-gradient(180deg, #fbfbf8 0%, #e8eeec 100%),
    #f6f7f4;
}

#urdf-canvas {
  width: 100%;
  height: 100%;
}

.viewer-status {
  position: absolute;
  left: 14px;
  bottom: 14px;
  max-width: calc(100% - 28px);
  border: 1px solid rgba(23, 32, 39, 0.12);
  border-radius: 7px;
  padding: 8px 10px;
  color: var(--ink-2);
  background: rgba(255, 255, 255, 0.84);
  font-size: 0.86rem;
  font-weight: 660;
  backdrop-filter: blur(10px);
}

.viewer-status.loaded {
  display: none;
}

.viewer-hint {
  display: flex;
  justify-content: space-between;
  gap: 12px;
  padding: 9px 12px;
  color: var(--muted);
  border-top: 1px solid var(--line);
  font-size: 0.84rem;
}

.control-panel {
  grid-area: controls;
  display: flex;
  flex-direction: column;
  align-self: stretch;
  padding: 12px;
}

.panel-title h3,
.case-video h3,
.paired-copy h3,
.urdf-preview-footer h3 {
  margin: 0;
  font-size: 1.08rem;
  line-height: 1.25;
}

.panel-title p,
.case-video p,
.paired-copy p,
.urdf-preview-footer p {
  margin: 8px 0 0;
  color: var(--muted);
  font-size: 0.93rem;
  line-height: 1.5;
}

.control-panel .panel-title p {
  margin-top: 6px;
  font-size: 0.87rem;
  line-height: 1.42;
}

.joint-controls {
  display: grid;
  align-content: start;
  flex: 1;
  gap: 7px;
  grid-auto-rows: auto;
  margin-top: 10px;
}

.joint-row {
  display: grid;
  grid-template-columns: 1fr auto;
  grid-template-rows: auto auto;
  gap: 6px 8px;
  align-items: center;
  padding: 7px 8px;
  border: 1px solid var(--line);
  border-radius: 7px;
  background: var(--surface-2);
}

.joint-name {
  color: var(--ink);
  font-size: 0.84rem;
  font-weight: 760;
  overflow-wrap: anywhere;
}

.joint-value {
  color: var(--teal-2);
  font-variant-numeric: tabular-nums;
  font-size: 0.82rem;
  font-weight: 760;
}

.joint-row input {
  grid-column: 1 / -1;
  width: 100%;
  height: 16px;
  accent-color: var(--teal);
}

.empty-joints {
  margin: 18px 0 0;
  color: var(--muted);
  line-height: 1.55;
}

.case-video {
  grid-area: video;
  display: grid;
  grid-template-columns: minmax(0, 1.45fr) minmax(280px, 1fr);
  gap: 16px;
  align-items: center;
  padding: 14px;
}

.case-video-media {
  position: relative;
  width: 100%;
  aspect-ratio: 16 / 9;
  overflow: hidden;
  border-radius: 7px;
  background: #111;
}

.case-video-media video {
  width: 100%;
  height: 100%;
  object-fit: fill;
  object-position: center top;
  transform: scaleY(1.055);
  transform-origin: center top;
}

.eyebrow {
  color: var(--rust);
}

.results-grid {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 22px;
  align-items: stretch;
}

.results-grid.single {
  grid-template-columns: 1fr;
}

.results-grid.single figure {
  width: 100%;
}

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

.paired-demo-list {
  display: grid;
  gap: 42px;
}

.gallery-group {
  display: grid;
  gap: 18px;
}

.gallery-group-heading {
  width: 100%;
  max-width: none;
}

.gallery-group-heading h3 {
  max-width: 900px;
  margin: 0;
  color: var(--ink);
  font-size: clamp(1.32rem, 1.7vw, 1.85rem);
  line-height: 1.18;
}

.gallery-group-description {
  width: min(900px, 100%);
  margin: 8px auto 0;
  color: #9aa3a8;
  font-size: clamp(0.9rem, 0.95vw, 0.98rem);
  font-style: italic;
  line-height: 1.5;
  text-align: center;
  letter-spacing: 0.01em;
}

.gallery-group-list {
  display: grid;
  gap: 22px;
}

.gallery-demo-note {
  margin: 6px auto -7px;
  color: #9aa3a8;
  font-size: clamp(0.9rem, 0.95vw, 0.98rem);
  font-style: italic;
  line-height: 1.5;
  text-align: center;
  letter-spacing: 0.01em;
}

.paired-demo-row {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 18px;
  align-items: stretch;
}

.paired-video-panel {
  position: relative;
  aspect-ratio: 1.86 / 1;
  min-height: 260px;
  overflow: hidden;
  background: #111;
}

.paired-video-panel video {
  width: 100%;
  height: 100%;
  aspect-ratio: auto;
  border-radius: 0;
  object-fit: cover;
  object-position: center top;
  transform:
    translateX(var(--video-crop-x, 0))
    translateY(var(--video-crop-y, 0))
    scale(var(--video-crop-scale, 1));
  transform-origin: center top;
}

.paired-video-panel[data-case-id="car_butterfly_doors"] {
  --video-crop-scale: 1.075;
  --video-crop-x: 1%;
}

.paired-video-panel[data-case-id="car_backward_hinged"] {
  --video-crop-scale: 1.12;
}

.paired-video-panel[data-case-id="car_example_2"] {
  --video-crop-scale: 1.16;
}

.paired-video-panel[data-case-id="bike"] {
  --video-crop-scale: 1.075;
  --video-crop-x: -1%;
}

.paired-video-panel[data-case-id="drawer"] {
  --video-crop-scale: 1.085;
  --video-crop-x: -1.25%;
}

.paired-video-panel[data-case-id="washing_machine_left"] {
  --video-crop-scale: 1.08;
  --video-crop-x: -1.1%;
}

.paired-video-panel[data-case-id="washing_machine_right"] {
  --video-crop-scale: 1.09;
  --video-crop-x: -1.35%;
}

.paired-video-panel[data-case-id="windmill"] {
  --video-crop-scale: 1.075;
  --video-crop-x: -0.15%;
}

.paired-copy {
  padding: 14px;
}

.status-pill {
  display: inline-flex;
  align-items: center;
  min-height: 26px;
  border-radius: 999px;
  padding: 0 10px;
  color: var(--blue);
  background: rgba(47, 99, 128, 0.1);
  font-size: 0.78rem;
  font-weight: 780;
}

.status-pill.ready {
  color: var(--teal-2);
  background: rgba(13, 118, 109, 0.12);
}

.mini-link {
  display: inline-flex;
  align-items: center;
  justify-content: center;
  min-height: 34px;
  border: 1px solid var(--line);
  border-radius: 7px;
  padding: 0 12px;
  color: var(--ink);
  background: #fff;
  font-size: 0.85rem;
  font-weight: 720;
}

.paired-copy .mini-link {
  margin-top: 14px;
}

.mini-link[data-case] {
  color: #fff;
  border-color: var(--teal);
  background: var(--teal);
}

.urdf-preview-card {
  display: flex;
  flex-direction: column;
  overflow: hidden;
  min-height: 100%;
}

.urdf-preview-canvas {
  position: relative;
  min-height: 260px;
  aspect-ratio: 16 / 10;
  overflow: hidden;
  border-bottom: 1px solid var(--line);
  background:
    linear-gradient(rgba(226, 233, 230, 0.68) 1px, transparent 1px),
    linear-gradient(90deg, rgba(226, 233, 230, 0.68) 1px, transparent 1px),
    linear-gradient(180deg, #fbfbf8 0%, #e8eeec 100%);
  background-size: 32px 32px, 32px 32px, auto;
}

.embedded-viewer-canvas-wrap {
  position: relative;
  width: 100%;
  aspect-ratio: 1.86 / 1;
  min-height: 260px;
  overflow: hidden;
  background:
    linear-gradient(180deg, #fbfbf8 0%, #e8eeec 100%),
    #f6f7f4;
}

.panel-label {
  position: absolute;
  z-index: 2;
  top: 10px;
  left: 10px;
  display: inline-flex;
  align-items: center;
  min-height: 24px;
  border: 1px solid rgba(23, 32, 39, 0.14);
  border-radius: 999px;
  padding: 0 9px;
  color: var(--ink);
  background: rgba(255, 255, 255, 0.78);
  box-shadow: 0 8px 22px rgba(23, 32, 39, 0.08);
  font-size: 0.72rem;
  font-weight: 800;
  letter-spacing: 0;
  backdrop-filter: blur(10px);
}

.embedded-viewer-canvas-wrap > .panel-label,
.open-main-viewer-button {
  width: 116px;
  justify-content: center;
  font-size: 0.74rem;
}

.embedded-urdf-canvas {
  width: 100%;
  height: 100%;
}

.mini-viewer-status {
  position: absolute;
  left: 12px;
  bottom: 12px;
  max-width: calc(100% - 24px);
  border: 1px solid rgba(23, 32, 39, 0.12);
  border-radius: 7px;
  padding: 7px 9px;
  color: var(--ink-2);
  background: rgba(255, 255, 255, 0.84);
  font-size: 0.8rem;
  font-weight: 660;
  backdrop-filter: blur(10px);
  transition: opacity 160ms ease;
}

.mini-viewer-status.loaded {
  opacity: 0;
  pointer-events: none;
}

.open-main-viewer-button {
  position: absolute;
  z-index: 3;
  top: 40px;
  left: 10px;
  display: inline-flex;
  align-items: center;
  min-height: 24px;
  border: 1px solid rgba(23, 32, 39, 0.14);
  border-radius: 999px;
  padding: 0 9px;
  color: var(--ink);
  background: rgba(255, 255, 255, 0.78);
  box-shadow: 0 8px 22px rgba(23, 32, 39, 0.08);
  font: inherit;
  font-size: 0.74rem;
  font-weight: 800;
  letter-spacing: 0;
  cursor: pointer;
  backdrop-filter: blur(10px);
  transition:
    background 160ms ease,
    color 160ms ease,
    transform 160ms ease,
    border-color 160ms ease;
}

.open-main-viewer-button:hover,
.open-main-viewer-button:focus-visible {
  border-color: rgba(13, 118, 109, 0.26);
  color: var(--teal);
  background: rgba(255, 255, 255, 0.88);
  transform: translateY(-1px);
}

.urdf-preview-canvas::after {
  content: "";
  position: absolute;
  left: 12%;
  right: 12%;
  bottom: 18%;
  height: 1px;
  background: rgba(23, 32, 39, 0.08);
  transform: skewX(-20deg);
}

.urdf-axis {
  position: absolute;
  left: 50%;
  top: 50%;
  width: 78px;
  height: 2px;
  border-radius: 999px;
  background: rgba(23, 32, 39, 0.36);
  transform-origin: left center;
}

.urdf-axis.horizontal {
  transform: rotate(-18deg);
}

.urdf-axis.vertical {
  background: rgba(13, 118, 109, 0.42);
  transform: rotate(68deg);
}

.urdf-ghost-model {
  position: absolute;
  left: 50%;
  top: 50%;
  width: 156px;
  height: 86px;
  border: 1px solid rgba(23, 32, 39, 0.1);
  border-radius: 6px;
  background:
    linear-gradient(135deg, rgba(13, 118, 109, 0.16), transparent 50%),
    linear-gradient(180deg, rgba(255, 255, 255, 0.9), rgba(174, 183, 178, 0.5));
  box-shadow: 18px 22px 34px rgba(39, 50, 59, 0.12);
  transform: translate(-50%, -42%) perspective(260px) rotateX(54deg) rotateZ(-18deg);
}

.urdf-ghost-model::before,
.urdf-ghost-model::after {
  content: "";
  position: absolute;
  bottom: -18px;
  width: 40px;
  height: 40px;
  border-radius: 50%;
  background: var(--teal);
  opacity: 0.76;
}

.urdf-ghost-model::before {
  left: 18px;
}

.urdf-ghost-model::after {
  right: 18px;
  background: var(--gold);
}

.urdf-ghost-model.waiting-model {
  opacity: 0.52;
  filter: grayscale(0.45);
}

.urdf-ghost-model.drawer {
  width: 124px;
  height: 104px;
  border-radius: 4px;
  transform: translate(-50%, -44%) perspective(260px) rotateX(56deg) rotateZ(-12deg);
}

.urdf-ghost-model.drawer::before {
  left: 18px;
  bottom: 22px;
  width: 88px;
  height: 24px;
  border-radius: 3px;
  background: rgba(184, 82, 53, 0.7);
}

.urdf-ghost-model.drawer::after {
  right: -22px;
  bottom: 20px;
  width: 42px;
  height: 48px;
  border-radius: 3px;
  background: rgba(13, 118, 109, 0.62);
}

.urdf-preview-footer {
  display: flex;
  align-items: flex-start;
  justify-content: space-between;
  gap: 12px;
  padding: 14px;
}

.urdf-preview-footer .eyebrow {
  margin: 0 0 7px;
}

.urdf-preview-actions {
  display: flex;
  align-items: center;
  justify-content: flex-start;
  flex-wrap: wrap;
  gap: 8px;
  min-height: 46px;
}

.mini-link:disabled {
  cursor: default;
  opacity: 0.66;
}

.urdf-placeholder-note {
  flex: 1;
  min-height: 260px;
  margin: 0;
  padding: 18px;
  color: var(--muted);
  font-size: 0.9rem;
  line-height: 1.45;
}

.completion-section {
  background: #fff;
}

.completion-layout {
  display: grid;
  gap: 24px;
}

.completion-copy {
  width: 100%;
  max-width: none;
  color: var(--ink-2);
  font-size: clamp(1rem, 1.25vw, 1.12rem);
  line-height: 1.66;
}

.completion-copy p {
  margin: 0 0 1em;
}

.completion-copy p:last-child {
  margin-bottom: 0;
}

.completion-method {
  margin: 0;
}

.featured-completion {
  grid-template-columns: repeat(2, minmax(0, 1fr));
}

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

.citation-note {
  width: min(var(--content-width), 100%);
  margin: -14px auto 18px;
  color: var(--muted);
  font-size: clamp(1rem, 1.08vw, 1.08rem);
  line-height: 1.55;
}

.citation {
  overflow-x: auto;
  padding: 20px 22px;
  color: var(--ink-2);
  font-family: "LMRomanDemi10", ui-serif, Georgia, "Times New Roman", serif;
  font-size: clamp(0.98rem, 1.02vw, 1.06rem);
  line-height: 1.62;
  white-space: pre-wrap;
}

.citation code {
  font: inherit;
}

.citation .project-name {
  color: var(--ink);
}

@media (max-width: 980px) {
  .site-nav {
    display: none;
  }

  .section-heading,
  .abstract-layout,
  .method-grid,
  .overview-notes,
  .completion-copy,
  .results-grid,
  .demo-grid,
  .paired-demo-row,
  .featured-completion {
    grid-template-columns: 1fr;
  }

  .section-heading h2 {
    justify-self: start;
    max-width: 100%;
    text-align: left;
  }

  .abstract-label p {
    font-size: 1rem;
  }

  .abstract-main {
    display: block;
  }

  .abstract-main h2,
  .abstract-copy {
    grid-column: auto;
  }

  .news-panel,
  .news-item {
    display: grid;
    grid-template-columns: 1fr;
  }

  .news-panel {
    gap: 16px;
  }

  .news-item {
    gap: 4px;
    white-space: normal;
  }

  .overview-note,
  .overview-note:first-child,
  .overview-note:last-child {
    min-height: 0;
    border: 1px solid rgba(23, 32, 39, 0.12);
    border-top: 3px solid rgba(13, 118, 109, 0.62);
    padding: 16px 18px;
  }

  .pipeline-image-wrap {
    padding-bottom: 58px;
  }

  .pipeline-stage-labels {
    display: grid;
    grid-template-columns: repeat(2, minmax(0, 1fr));
    gap: 6px 12px;
  }

  .pipeline-stage-labels span {
    position: static;
    white-space: normal;
    transform: none;
  }

  .demo-grid {
    grid-template-areas:
      "viewer"
      "controls"
      "video";
  }

  .case-video {
    grid-template-columns: 1fr;
  }

  .urdf-preview-canvas,
  .embedded-viewer-canvas-wrap {
    min-height: 230px;
  }
}

@media (max-width: 700px) {
  .site-header {
    padding: 14px 16px;
  }

  .header-wordmark {
    font-size: clamp(1.16rem, 5.2vw, 1.46rem);
  }

  .hero {
    min-height: 86svh;
  }

  .hero-content {
    width: calc(100% - 32px);
    padding-bottom: 42px;
  }

  h1 {
    margin-bottom: 24px;
  }

  .title-line {
    white-space: normal;
  }

  .authors {
    line-height: 1.58;
  }

  .hero-shade {
    background:
      linear-gradient(90deg, rgba(9, 14, 16, 0.9), rgba(9, 14, 16, 0.46)),
      linear-gradient(0deg, rgba(9, 14, 16, 0.9) 0%, rgba(9, 14, 16, 0.18) 70%);
  }

  .hero-actions {
    gap: 12px;
    margin-top: 16px;
  }

  .publication-venue {
    margin-top: 18px;
    font-size: 1.02rem;
  }

  .button {
    min-height: 2.5em;
    padding: calc(0.5em - 1px) 1em;
    font-size: 1rem;
  }

  .abstract-layout {
    gap: 22px;
    padding-top: 24px;
  }

  .abstract-main h2 {
    margin-bottom: 20px;
    text-align: left;
  }

  .abstract-copy {
    font-size: 1.04rem;
    line-height: 1.68;
  }

  .abstract-copy p:first-child::first-letter {
    font-size: 3.7rem;
  }

  .viewer-toolbar {
    align-items: stretch;
    flex-direction: column;
  }

  select,
  .tool-button {
    width: 100%;
  }

  .viewer-hint {
    flex-direction: column;
  }

  .urdf-preview-footer {
    flex-direction: column;
  }

  .urdf-preview-canvas,
  .embedded-viewer-canvas-wrap {
    min-height: 210px;
  }
}