:root {
  color-scheme: light;
  --ink: #253533;
  --muted: #5d6d69;
  --accent: #178575;
  --line: #dbe6e2;
  --tint: #f5f8f7;
}
* { box-sizing: border-box; }
html { scroll-behavior: smooth; scroll-padding-top: 24px; }
body { margin: 0; color: var(--ink); background: #fff; font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', Arial, sans-serif; font-size: 16px; line-height: 1.7; }
a { color: var(--accent); text-decoration: none; }
a:hover { text-decoration: underline; }
button, a, [tabindex] { -webkit-tap-highlight-color: transparent; }
:focus-visible { outline: 3px solid var(--accent); outline-offset: 5px; }
.container { width: min(1200px, calc(100% - 64px)); margin-inline: auto; }
.skip-link { position: absolute; top: -80px; left: 20px; z-index: 10; padding: 12px; background: white; }
.skip-link:focus { top: 12px; }
.publication-header { padding-top: 64px; padding-bottom: 42px; text-align: center; }
h1, h2, h3, p { margin-top: 0; }
h1 { margin-bottom: 20px; font-weight: 650; letter-spacing: -.035em; line-height: 1.24; }
.project-name { display: flex; align-items: center; justify-content: center; gap: .12em; margin-bottom: 15px; color: var(--accent); font-size: clamp(48px, 6vw, 68px); font-weight: 750; }
.project-logo { flex: 0 0 2.3em; width: 2.3em; height: 2.3em; background-color: var(--accent); -webkit-mask: url('../images/icon1.png') center / contain no-repeat; mask: url('../images/icon1.png') center / contain no-repeat; }
.paper-title { display: block; font-size: clamp(26px, 3vw, 38px); }
.publication-status { display: inline-block; margin: 0 0 25px; padding: 4px 17px; border: 1px solid #cbe3db; border-radius: 30px; background: #eff8f4; color: #206e5e; font-size: 16px; font-weight: 650; }
.authors { max-width: 1000px; margin: 0 auto 15px; font-size: 19px; line-height: 1.9; }
.authors span { display: inline-block; }
sup { margin-left: 2px; font-size: .65em; }
.affiliations { color: var(--muted); font-size: 14px; line-height: 1.7; }
.affiliations p { margin-bottom: 3px; }
.affiliations span { display: inline-block; }
.correspondence { padding-top: 6px; font-size: 13px; }
.publication-links { display: flex; justify-content: center; gap: 12px; margin-top: 25px; }
.button { display: inline-flex; align-items: center; gap: 10px; padding: 9px 24px; border-radius: 30px; background: var(--ink); color: #fff; font-size: 15px; font-weight: 600; transition: background .18s; }
.button:hover { background: var(--accent); text-decoration: none; }
.button[aria-disabled='true'] { cursor: default; }
.section { padding-block: 64px; }
.section-tinted { background: var(--tint); }
h2 { margin-bottom: 14px; text-align: center; font-size: clamp(26px, 3vw, 32px); font-weight: 650; letter-spacing: -.025em; line-height: 1.3; }
.section-intro { max-width: 820px; margin: 0 auto 36px; text-align: center; color: var(--muted); }
.teaser-section { padding: 12px 0 58px; }
.paper-figure { margin: 32px 0 0; }
.figure-image { display: block; min-width: 0; }
.figure-image img { display: block; width: 100%; height: auto; background: #fff; }
.figure-side { display: grid; grid-template-columns: 1fr 1fr; align-items: center; gap: 48px; }
.figure-side figcaption { padding-right: 20px; }
.figure-label { display: block; margin-bottom: 8px; color: var(--accent); font-size: 12px; font-weight: 750; letter-spacing: .1em; text-transform: uppercase; }
figcaption h3 { margin: 0 0 12px; font-size: 23px; line-height: 1.35; font-weight: 650; letter-spacing: -.015em; }
figcaption p { margin: 0; color: var(--muted); font-size: 15px; line-height: 1.8; }
.figure-wide figcaption { max-width: 1060px; margin: 20px auto 0; }
.figure-wide figcaption h3 { display: inline; font-size: 17px; margin-right: 6px; }
.figure-wide figcaption p { display: inline; }
.video-container { max-width: 1000px; }
.video-player { position: relative; overflow: hidden; border-radius: 12px; background: #101918; box-shadow: 0 12px 36px #19352c16; }
video { display: block; width: 100%; aspect-ratio: 854 / 480; }
.video-play { position: absolute; inset: 0 0 52px; display: flex; flex-direction: column; align-items: center; justify-content: center; gap: 14px; width: 100%; border: 0; cursor: pointer; color: #fff; background: #102a2433; font: inherit; font-weight: 600; text-shadow: 0 1px 7px #000; }
.video-play[hidden], [hidden] { display: none !important; }
.play-icon { display: grid; place-items: center; width: 76px; height: 76px; padding-left: 5px; border: 1px solid #ffffff88; border-radius: 50%; background: #167d6feb; font-size: 30px; text-shadow: none; transition: transform .18s; }
.video-play:hover .play-icon { transform: scale(1.07); }
.video-message { margin: 15px 0 0; text-align: center; }
.abstract { max-width: 920px; padding-bottom: 22px; }
.abstract > p { margin-bottom: 0; text-align: justify; line-height: 1.9; }
.method-notes { display: grid; grid-template-columns: repeat(3, 1fr); gap: 28px; padding-block: 38px; margin: 34px 0; border-block: 1px solid var(--line); }
.method-notes h3 { margin-bottom: 10px; font-size: 17px; line-height: 1.4; }
.method-notes p { color: var(--muted); margin-bottom: 0; font-size: 14px; }
.table-scroll { width: 100%; overflow-x: auto; margin: 30px 0 18px; }
table { width: 100%; border-collapse: collapse; font-size: 12px; line-height: 1.5; font-variant-numeric: tabular-nums; }
caption { min-width: 600px; padding-bottom: 18px; text-align: left; color: var(--muted); font-size: 15px; line-height: 1.7; }
caption strong { color: var(--ink); }
th, td { padding: 10px 7px; text-align: center; border-bottom: 1px solid var(--line); }
thead { border-top: 2px solid var(--ink); border-bottom: 2px solid var(--ink); }
thead th { white-space: nowrap; font-weight: 600; }
tbody th[scope='row'] { text-align: left; white-space: nowrap; font-weight: 500; }
tbody td { white-space: nowrap; }
tbody tr:last-child { border-bottom: 2px solid var(--ink); }
.table-group th { padding: 7px 10px; background: #edf2f0; font-weight: 650; text-align: left; }
.ours { background: #f0f8f5; }
.table-note { color: var(--muted); font-size: 12px; line-height: 1.6; }
.table-compact { max-width: 860px; margin-inline: auto; margin-bottom: 48px; }
.table-compact table { font-size: 14px; }
#robot-trials { padding-top: 26px; }
#robot-trials .paper-figure { margin-top: 48px; }
footer { padding-block: 35px; text-align: center; color: var(--muted); font-size: 14px; }
footer p { margin-bottom: 7px; }
.template-credit { font-size: 12px; }
@media (min-width: 1440px) { table { font-size: 13px; } }
@media (max-width: 760px) {
  .container { width: calc(100% - 36px); }
  .publication-header { padding-top: 38px; padding-bottom: 28px; }
  .desktop-break { display: none; }
  .authors { font-size: 16px; }
  .publication-links { gap: 8px; }
  .publication-links .button { padding-inline: 16px; gap: 8px; }
  .affiliations { font-size: 12px; }
  .section { padding-block: 42px; }
  .teaser-section { padding-bottom: 36px; }
  .figure-side { grid-template-columns: 1fr; gap: 22px; }
  .figure-side figcaption { padding: 0; }
  figcaption h3 { font-size: 21px; }
  .figure-wide figcaption { margin-top: 16px; }
  .abstract > p { text-align: left; font-size: 15px; }
  .method-notes { grid-template-columns: 1fr; gap: 22px; padding-block: 26px; }
  .section-intro { margin-bottom: 26px; font-size: 15px; }
  .play-icon { width: 58px; height: 58px; font-size: 24px; }
  .video-play { gap: 8px; font-size: 14px; }
  caption { min-width: 0; width: calc(100vw - 36px); }
  .table-compact table { font-size: 12px; }
}
@media (prefers-reduced-motion: reduce) {
  html { scroll-behavior: auto; }
  *, *::before, *::after { transition: none !important; }
}