:root {
  --bg: #fff;
  --alt: #f6f7f9;
  --fg: #1a1d23;
  --muted: #5b6472;
  --accent: #2f6df6;
  --border: #e3e6ea;
  --maxw: 1200px;
}
* {
  box-sizing: border-box;
}
html {
  scroll-behavior: smooth;
  scroll-padding-top: 85px;
}
body {
  margin: 0;
  background: var(--bg);
  color: var(--fg);
  font-family: Inter, system-ui, sans-serif;
  line-height: 1.65;
  -webkit-font-smoothing: antialiased;
}
a {
  color: var(--accent);
  text-decoration: none;
}
a:hover {
  text-decoration: underline;
}
button {
  font: inherit;
  cursor: pointer;
}
img {
  display: block;
  max-width: 100%;
  height: auto;
}
.container {
  max-width: var(--maxw);
  margin: auto;
  padding: 0 24px;
}
.has-text-centered {
  text-align: center;
}
.has-text-justified {
  text-align: left;
}
.brand-accent {
  color: var(--accent);
}
.skip-link {
  position: fixed;
  top: 8px;
  left: 8px;
  z-index: 200;
  background: white;
  padding: 10px 20px;
  transform: translateY(-160%);
}
.skip-link:focus {
  transform: none;
}
:focus-visible {
  outline: 3px solid var(--accent);
  outline-offset: 5px;
}
.scroll-progress {
  position: fixed;
  top: 0;
  left: 0;
  height: 3px;
  background: var(--accent);
  z-index: 110;
  width: 0;
}
.site-nav {
  position: sticky;
  top: 0;
  z-index: 100;
  background: rgba(255, 255, 255, 0.94);
  backdrop-filter: blur(12px);
  border-bottom: 1px solid var(--border);
}
.nav-shell {
  max-width: var(--maxw);
  margin: auto;
  min-height: 64px;
  display: flex;
  align-items: center;
  justify-content: space-between;
  padding: 0 24px;
  gap: 24px;
}
.nav-brand {
  font-weight: 800;
  font-size: 1.25rem;
  color: var(--fg);
}
.nav-links {
  display: flex;
  gap: 23px;
}
.nav-links a {
  font-size: 0.85rem;
  color: var(--muted);
  font-weight: 500;
}
.nav-links a.active,
.toc a.active {
  color: var(--accent);
}
.nav-toggle {
  display: none;
  background: none;
  border: 0;
  font-size: 1.5rem;
}
.toc {
  display: none;
  position: fixed;
  top: 100px;
  left: calc((100vw - var(--maxw)) / 2 - 205px);
  width: 185px;
  z-index: 40;
}
.toc-title {
  font-size: 0.72rem;
  letter-spacing: 0.1em;
  text-transform: uppercase;
  font-weight: 700;
  color: var(--muted);
  padding: 0 12px 10px;
}
.toc nav {
  display: flex;
  flex-direction: column;
  border-left: 1px solid var(--border);
}
.toc a {
  font-size: 0.85rem;
  padding: 8px 12px;
  color: var(--muted);
  border-left: 2px solid transparent;
  margin-left: -1px;
}
.toc a.active {
  border-left-color: var(--accent);
  font-weight: 700;
}
.publication-hero {
  min-height: calc(100svh - 64px);
  position: relative;
  isolation: isolate;
  background: #111820;
  color: white;
  display: flex;
  flex-direction: column;
  justify-content: center;
  overflow: hidden;
}
.hero-art {
  position: absolute;
  inset: 0;
  z-index: -3;
  background: url("../images/tasks.png") center/cover no-repeat;
  opacity: 0.42;
}
.hero-scrim {
  position: absolute;
  inset: 0;
  z-index: -2;
  background:
    linear-gradient(
      90deg,
      rgba(10, 16, 26, 0.91),
      rgba(10, 16, 26, 0.48) 65%,
      rgba(10, 16, 26, 0.23)
    ),
    linear-gradient(0deg, rgba(10, 16, 26, 0.9), transparent 45%);
}
.hero-content {
  width: 90%;
  max-width: 1560px;
  margin: 0 auto;
  padding: 80px 0 150px;
}
.hero-kicker {
  text-transform: uppercase;
  letter-spacing: 0.16em;
  font-size: 0.72rem;
  font-weight: 600;
  color: #c7d3e2;
  margin: 0 0 16px;
}
.hero-title {
  font-size: clamp(6rem, 13vw, 12rem);
  font-weight: 800;
  line-height: 0.95;
  letter-spacing: -0.075em;
  margin: 0 0 30px;
}
.hero-subtitle {
  font-size: clamp(1.35rem, 2.6vw, 2.5rem);
  line-height: 1.3;
  letter-spacing: -0.035em;
  font-weight: 500;
  margin: 0 0 30px;
  max-width: 860px;
}
.badges {
  display: flex;
  flex-wrap: wrap;
  gap: 10px;
}
.badges span {
  font-size: 0.78rem;
  border: 1px solid #ffffff40;
  padding: 7px 13px;
  border-radius: 30px;
  background: #ffffff0a;
}
.hero-bottom {
  position: absolute;
  bottom: 32px;
  left: 5%;
  right: 5%;
  display: flex;
  justify-content: space-between;
  gap: 24px;
  align-items: center;
  font-size: 0.8rem;
  color: #cdd4de;
}
.hero-status {
  display: flex;
  align-items: center;
  gap: 10px;
}
.status-dot {
  width: 7px;
  height: 7px;
  border-radius: 50%;
  background: #72a2ff;
}
.hero-scroll {
  color: white;
  display: flex;
  gap: 18px;
  align-items: center;
}
.hero-scroll span {
  font-size: 1.5rem;
}
.stats-band {
  background: var(--fg);
  color: white;
  padding: 30px 5%;
}
.stats {
  max-width: 1560px;
  margin: auto;
  display: grid;
  grid-template-columns: repeat(3, 1fr);
  gap: 32px;
}
.stat-group {
  border-left: 3px solid #4a5361;
  padding-left: 18px;
}
.stat-group h2 {
  font-size: 1rem;
  margin: 0 0 8px;
}
.stat-group p {
  font-size: 0.8rem;
  color: #cdd4de;
  margin: 3px 0;
}
.stat-group strong {
  font-size: 1.1rem;
  color: white;
}
.project-info {
  padding: 70px 0 45px;
}
.eyebrow,
.section-index {
  text-transform: uppercase;
  letter-spacing: 0.13em;
  font-weight: 700;
  font-size: 0.7rem;
  color: var(--accent);
  margin: 0 0 12px;
}
.project-title {
  font-size: 3.5rem;
  line-height: 1.1;
  letter-spacing: -0.06em;
  margin: 0 0 15px;
}
.project-subtitle {
  font-size: 1.3rem;
  line-height: 1.45;
  font-weight: 600;
  max-width: 760px;
  margin: 0 auto 25px;
  letter-spacing: -0.025em;
}
.publication-authors {
  font-size: 1rem;
  margin: 10px 0;
}
.author-block {
  display: inline-block;
  margin: 0 5px;
}
.affiliations {
  display: flex;
  justify-content: center;
  flex-wrap: wrap;
  gap: 4px 20px;
  font-size: 0.82rem;
  color: var(--muted);
}
sup {
  font-size: 0.65em;
  margin-left: 2px;
}
.contribution-note {
  font-size: 0.82rem;
  color: var(--muted);
}
.publication-links {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 10px;
  margin-top: 25px;
}
.button {
  display: inline-flex;
  align-items: center;
  justify-content: center;
  border: 1px solid var(--border);
  padding: 9px 18px;
  border-radius: 7px;
  background: white;
  color: var(--fg);
  font-size: 0.85rem;
  font-weight: 600;
}
.button:hover {
  background: var(--alt);
  border-color: #bbc5d5;
  text-decoration: none;
}
.section,
.teaser {
  padding: 78px 0;
}
.teaser {
  padding: 10px 0 65px;
}
.paper-section--tinted,
#demos,
#BibTeX {
  background: var(--alt);
}
.title.is-3 {
  font-size: clamp(1.8rem, 3.4vw, 2.45rem);
  letter-spacing: -0.04em;
  line-height: 1.2;
  margin: 0 0 28px;
  font-weight: 800;
}
.content,
.benchmark-copy,
.demo-intro,
.teaser-caption,
.capture-caption {
  color: var(--muted);
  font-size: 1rem;
  line-height: 1.85;
}
.content strong,
.teaser-caption strong {
  color: var(--fg);
}
#abstract .column {
  max-width: 780px;
  margin: auto;
}
#abstract .content p {
  margin: 0 0 18px;
}
.figure-frame {
  margin: 24px 0;
  overflow: hidden;
  border: 1px solid var(--border);
  border-radius: 14px;
  background: white;
}
.figure-frame img {
  width: 100%;
  height: auto;
}
.teaser .figure-frame--hero {
  width: 95%;
  margin-inline: auto;
}
.figure-frame figcaption {
  padding: 12px 18px;
  color: var(--muted);
  font-size: 0.82rem;
  line-height: 1.6;
  border-top: 1px solid var(--border);
  text-align: center;
}
.teaser-caption {
  max-width: 900px;
  margin: 24px auto 0;
}
.method-detail-grid {
  display: grid;
  grid-template-columns: 1fr 1fr;
  gap: 40px;
  align-items: center;
  margin-top: 45px;
}
.method-copy h3 {
  font-size: 1.7rem;
  line-height: 1.25;
  color: var(--fg);
  letter-spacing: -0.03em;
  margin: 0 0 18px;
}
.feature-list {
  list-style: none;
  padding: 0;
  margin: 22px 0 0;
}
.feature-list li {
  display: flex;
  gap: 16px;
  padding: 14px 0;
  border-top: 1px solid var(--border);
  font-size: 0.9rem;
}
.feature-list span {
  color: var(--accent);
  font-weight: 700;
}
.benchmark-section {
  background: var(--alt);
}
.benchmark-copy {
  max-width: 850px;
  margin: 0 auto 28px;
  text-align: left;
}
.barchart {
  max-width: 820px;
  margin: 35px auto;
  display: grid;
  gap: 15px;
}
.bar-row {
  display: grid;
  grid-template-columns: 110px 1fr 50px;
  gap: 16px;
  align-items: center;
  font-size: 0.85rem;
}
.bar-row > span {
  text-align: right;
  color: var(--muted);
}
.bar-track {
  height: 20px;
  border-radius: 30px;
  background: var(--border);
  overflow: hidden;
}
.bar-fill {
  height: 100%;
  background: #b7c4d6;
  border-radius: 30px;
}
.highlight .bar-fill {
  background: var(--accent);
}
.highlight > span {
  font-weight: 700;
  color: var(--fg);
}
.results-table-wrap {
  overflow-x: auto;
  margin: 35px 0;
  border: 1px solid var(--border);
  border-radius: 14px;
  background: white;
}
.results-table {
  width: 100%;
  min-width: 560px;
  border-collapse: collapse;
  text-align: left;
  font-size: 0.9rem;
}
.results-table caption {
  padding: 18px 20px;
  color: var(--muted);
  font-size: 0.8rem;
  text-align: left;
}
.results-table th,
.results-table td {
  padding: 15px 20px;
  border-bottom: 1px solid var(--border);
}
.results-table thead {
  background: var(--alt);
  font-size: 0.78rem;
}
.results-table tr:last-child > * {
  border-bottom: 0;
}
.results-table .is-highlight {
  background: #e8f0fe;
  color: #2354c0;
}
.visual-grid {
  display: grid;
  grid-template-columns: 1fr 1fr;
  gap: 24px;
}
.visual-grid .figure-frame {
  margin: 0;
}
.demo-intro {
  max-width: 820px;
  margin: 0 auto 25px;
}
.bibtex-header {
  display: flex;
  justify-content: space-between;
  align-items: center;
  gap: 20px;
  margin-bottom: 22px;
}
.bibtex-header .title {
  margin: 0;
}
pre {
  overflow-x: auto;
  background: #edf0f4;
  border: 1px solid var(--border);
  padding: 24px;
  border-radius: 10px;
  font-size: 0.83rem;
  line-height: 1.7;
  margin: 0;
}
code {
  font-family: ui-monospace, monospace;
}
.footer {
  border-top: 1px solid var(--border);
  padding: 35px 0;
}
.footer .content {
  font-size: 0.75rem;
  line-height: 1.8;
}
.scroll-to-top {
  position: fixed;
  right: 22px;
  bottom: 22px;
  z-index: 80;
  width: 42px;
  height: 42px;
  background: white;
  border: 1px solid var(--border);
  border-radius: 50%;
  box-shadow: 0 4px 18px #14263815;
  opacity: 0;
  visibility: hidden;
  transition: opacity 0.2s;
}
.scroll-to-top.visible {
  opacity: 1;
  visibility: visible;
}
@media (min-width: 1640px) {
  .toc {
    display: block;
  }
}
@media (max-width: 800px) {
  .nav-toggle {
    display: block;
  }
  .nav-links {
    display: none;
    position: absolute;
    top: 64px;
    left: 0;
    right: 0;
    padding: 20px 24px;
    background: white;
    border-bottom: 1px solid var(--border);
    flex-wrap: wrap;
  }
  .nav-links.open {
    display: flex;
  }
  .stats {
    grid-template-columns: 1fr;
    gap: 24px;
  }
  .method-detail-grid {
    grid-template-columns: 1fr;
    gap: 12px;
  }
  .hero-content {
    padding: 80px 0 145px;
  }
  .hero-bottom {
    align-items: flex-start;
    flex-direction: column;
    gap: 12px;
  }
  .hero-title {
    font-size: 7rem;
  }
  .hero-subtitle {
    font-size: 1.65rem;
  }
  .section {
    padding: 60px 0;
  }
  .project-info {
    padding: 55px 0 35px;
  }
}
@media (max-width: 540px) {
  .container {
    padding: 0 20px;
  }
  .visual-grid {
    grid-template-columns: 1fr;
  }
  .hero-kicker {
    font-size: 0.62rem;
    letter-spacing: 0.09em;
  }
  .hero-title {
    font-size: 6.5rem;
  }
  .hero-subtitle {
    font-size: 1.35rem;
  }
  .badges {
    gap: 7px;
  }
  .badges span {
    font-size: 0.65rem;
    padding: 6px 10px;
  }
  .hero-status {
    font-size: 0.7rem;
  }
  .bar-row {
    grid-template-columns: 80px 1fr 42px;
    gap: 9px;
    font-size: 0.75rem;
  }
  .project-subtitle {
    font-size: 1.1rem;
  }
  .publication-authors {
    font-size: 0.9rem;
  }
  .publication-links {
    gap: 8px;
  }
  .button {
    padding: 8px 12px;
  }
  .figure-frame figcaption {
    font-size: 0.75rem;
  }
  .project-title {
    font-size: 3rem;
  }
  pre {
    padding: 16px;
    font-size: 0.72rem;
  }
}
@media (prefers-reduced-motion: reduce) {
  html {
    scroll-behavior: auto;
  }
  *,
  *::before,
  *::after {
    transition: none !important;
    animation: none !important;
  }
}

/* Video demonstrations extracted from the supplied presentation. */
.hero-art {
  opacity: 0.86;
  left: 30%;
  background: #111820;
}
.hero-art video {
  width: 100%;
  height: 100%;
  object-fit: cover;
  object-position: center;
}
.hero-scrim {
  background:
    linear-gradient(
      90deg,
      #0a101a 8%,
      rgba(10, 16, 26, 0.86) 30%,
      rgba(10, 16, 26, 0.2) 70%
    ),
    linear-gradient(0deg, rgba(10, 16, 26, 0.95), transparent 48%);
}
.hero-content {
  padding-bottom: 225px;
  pointer-events: none;
}
.hero-subtitle {
  max-width: 700px;
}
.hero-bottom {
  flex-direction: column;
  align-items: stretch;
  gap: 13px;
}
.hero-status {
  flex-wrap: wrap;
}
.hero-status-detail {
  color: #a9b7ca;
  font-size: 0.72rem;
}
.rollout-selector {
  display: flex;
  flex-wrap: wrap;
  gap: 8px;
}
.rollout-selector button,
#hero-playback {
  border: 1px solid #ffffff55;
  border-radius: 999px;
  color: #fff;
  background: #101a2d66;
  padding: 8px 15px;
  font-size: 0.78rem;
  backdrop-filter: blur(8px);
}
.rollout-selector button.active,
.rollout-selector button:hover {
  color: var(--fg);
  background: white;
  border-color: white;
}
.hero-actions {
  display: flex;
  justify-content: space-between;
  align-items: center;
  gap: 18px;
}
#hero-playback:hover {
  background: #ffffff20;
}
.media-error {
  color: #fff;
  font-size: 0.8rem;
  margin: 0;
}
.section-intro {
  color: var(--muted);
  max-width: 830px;
  margin: 0 0 25px;
  line-height: 1.8;
}
.media-note {
  color: var(--muted);
  font-size: 0.82rem;
  line-height: 1.75;
  margin: 20px 0 28px;
}
.demo-grid,
.comparison-grid {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 24px;
}
.demo-card {
  min-width: 0;
  margin: 0;
  border: 1px solid var(--border);
  border-radius: 14px;
  overflow: hidden;
  background: #fff;
}
.demo-card video {
  display: block;
  width: 100%;
  aspect-ratio: 4 / 3;
  object-fit: contain;
  background: #10151e;
}
.demo-card figcaption {
  display: flex;
  align-items: flex-start;
  gap: 14px;
  padding: 17px 18px;
}
.demo-card h3,
.comparison-heading h3 {
  margin: 0 0 5px;
  font-size: 1.02rem;
  line-height: 1.45;
  letter-spacing: -0.02em;
}
.demo-card p,
.comparison-heading p {
  color: var(--muted);
  font-size: 0.8rem;
  margin: 0;
  line-height: 1.65;
}
.demo-number {
  color: var(--accent);
  font-size: 0.75rem;
  font-weight: 700;
  padding-top: 4px;
}
#demos {
  background: var(--alt);
}
.comparison-group {
  margin-top: 38px;
  padding-top: 28px;
  border-top: 1px solid var(--border);
}
.comparison-heading {
  display: flex;
  gap: 16px;
  margin-bottom: 20px;
}
.method-label {
  padding: 10px 18px;
  font-size: 0.8rem;
  font-weight: 700;
  border-bottom: 1px solid var(--border);
}
.method-label.warm {
  color: #974134;
  background: #fbf0ee;
}
.method-label.tide {
  color: #2354c0;
  background: #e8f0fe;
}
@media (max-width: 800px) {
  .hero-art {
    left: 0;
    opacity: 0.65;
  }
  .hero-scrim {
    background:
      linear-gradient(90deg, rgba(10, 16, 26, 0.82), rgba(10, 16, 26, 0.3)),
      linear-gradient(0deg, #0a101a, transparent 70%);
  }
  .hero-content {
    padding-bottom: 230px;
  }
}
@media (max-width: 540px) {
  .demo-grid,
  .comparison-grid {
    grid-template-columns: 1fr;
    gap: 18px;
  }
  .hero-status-detail {
    width: 100%;
    padding-left: 17px;
  }
  .hero-content {
    padding-top: 48px;
    padding-bottom: 250px;
  }
  .hero-title {
    font-size: 5.5rem;
  }
  .hero-bottom {
    bottom: 22px;
  }
  .hero-actions {
    font-size: 0.73rem;
  }
  .rollout-selector button {
    padding: 7px 11px;
    font-size: 0.72rem;
  }
}

/* Match the reference: a clear opening panel, then navigation for the paper. */
.site-nav {
  position: fixed;
  left: 0;
  right: 0;
}
.navigation-ready:not(.reading-content) .site-nav,
.navigation-ready:not(.reading-content) .toc {
  opacity: 0;
  visibility: hidden;
  pointer-events: none;
}
.navigation-ready:not(.reading-content) .site-nav {
  transform: translateY(-100%);
}
.publication-hero {
  min-height: 100svh;
  display: grid;
  grid-template-rows: minmax(48px, 1fr) auto minmax(210px, 1fr);
  justify-content: stretch;
  text-align: center;
}
#top {
  scroll-margin-top: 0;
}
.hero-art {
  inset: 0;
  opacity: 1;
}
.hero-scrim {
  background:
    linear-gradient(
      180deg,
      rgba(7, 16, 31, 0.34),
      rgba(7, 16, 31, 0.44) 55%,
      rgba(7, 16, 31, 0.78)
    ),
    radial-gradient(
      ellipse at center,
      rgba(8, 16, 31, 0.23),
      rgba(8, 16, 31, 0.07)
    );
}
.hero-content {
  grid-row: 2;
  width: 90%;
  padding: 0;
  margin: 0 auto;
  max-width: 1160px;
}
.hero-title {
  font-size: clamp(4.5rem, 7.5vw, 6.6rem);
  line-height: 1.1;
  margin-bottom: 18px;
  text-shadow: 0 3px 28px #050d1d40;
}
.hero-title .brand-accent {
  color: #8aadff;
}
.hero-subtitle {
  font-size: clamp(1.4rem, 2.8vw, 2.25rem);
  max-width: 860px;
  margin: 0 auto 24px;
  text-wrap: balance;
}
.hero-kicker {
  margin-bottom: 18px;
}
.badges {
  justify-content: center;
}
.hero-bottom {
  grid-row: 3;
  position: relative;
  bottom: auto;
  left: auto;
  right: auto;
  align-self: end;
  width: 90%;
  max-width: 1560px;
  margin: 0 auto;
  padding: 30px 0 24px;
  align-items: center;
}
.hero-status,
.rollout-selector,
.hero-actions {
  justify-content: center;
}
.hero-actions {
  flex-wrap: wrap;
  gap: 12px 24px;
}
@media (max-width: 540px) {
  .publication-hero {
    grid-template-rows: minmax(32px, 1fr) auto minmax(210px, 1fr);
  }
  .hero-status-detail {
    width: 100%;
    padding-left: 0;
  }
  .hero-kicker {
    max-width: 300px;
    margin-inline: auto;
  }
  .hero-bottom {
    padding-bottom: 18px;
  }
}

.button:disabled {
  color: var(--muted);
  opacity: 0.6;
  cursor: default;
  background: var(--alt);
}

/* TIDE figures, evaluation results, and robot rollouts. */
.protocol-grid {
  display: grid;
  grid-template-columns: repeat(3, minmax(0, 1fr));
  gap: 30px;
  margin-top: 34px;
}
.protocol-grid > div {
  border-top: 2px solid var(--border);
  padding-top: 18px;
}
.protocol-grid h3,
.results-summary h3 {
  font-size: 1.1rem;
  letter-spacing: -0.025em;
  margin: 0 0 12px;
}
.protocol-grid p,
.results-summary p {
  font-size: 0.92rem;
  line-height: 1.85;
  color: var(--muted);
  margin: 0 0 18px;
}
.results-layout {
  display: grid;
  grid-template-columns: minmax(0, 1.15fr) minmax(0, 0.85fr);
  gap: 55px;
  align-items: center;
}
.results-summary h3 {
  font-size: 1.75rem;
  line-height: 1.25;
}
.text-link {
  font-size: 0.9rem;
  font-weight: 600;
}
.setup-figure img {
  padding: 18px;
}
.diagnostics-layout {
  margin-top: 65px;
}
.demo-card video {
  aspect-ratio: 16 / 9;
}
.demo-card figcaption {
  align-items: center;
  justify-content: space-between;
}
.demo-card figcaption a {
  font-size: 0.78rem;
  white-space: nowrap;
}
@media (max-width: 800px) {
  .protocol-grid,
  .results-layout {
    grid-template-columns: 1fr;
    gap: 22px;
  }
  .results-summary {
    max-width: 650px;
  }
}