:root {
  color-scheme: light;
  --bg: #f7f8fb;
  --paper: #ffffff;
  --ink: #1f2328;
  --muted: #5f6673;
  --line: #d8dde6;
  --soft-line: #edf0f5;
  --accent: #116466;
  --accent-strong: #0b4b4d;
  --accent-warm: #8a5b12;
  --accent-red: #a33a2a;
  --shadow: 0 14px 36px rgba(31, 35, 40, 0.08);
  --radius: 8px;
  --max: 1120px;
  --narrow: 840px;
}

* {
  box-sizing: border-box;
}

html {
  scroll-behavior: smooth;
}

body {
  margin: 0;
  background: var(--bg);
  color: var(--ink);
  font-family: Inter, ui-sans-serif, system-ui, -apple-system, BlinkMacSystemFont, "Segoe UI", sans-serif;
  font-size: 16px;
  line-height: 1.6;
}

a {
  color: inherit;
}

button,
input,
textarea,
select {
  font: inherit;
}

.skip-link {
  position: absolute;
  left: 16px;
  top: 10px;
  z-index: 20;
  transform: translateY(-160%);
  background: var(--ink);
  color: #fff;
  padding: 8px 12px;
  border-radius: var(--radius);
}

.skip-link:focus {
  transform: translateY(0);
}

.site-header {
  position: sticky;
  top: 0;
  z-index: 10;
  border-bottom: 1px solid rgba(216, 221, 230, 0.88);
  background: rgba(247, 248, 251, 0.92);
  backdrop-filter: blur(12px);
}

.nav {
  max-width: var(--max);
  margin: 0 auto;
  padding: 12px 24px;
  display: flex;
  gap: 8px;
  justify-content: flex-end;
  flex-wrap: wrap;
}

.nav a {
  color: var(--muted);
  text-decoration: none;
  font-weight: 650;
  font-size: 0.92rem;
  padding: 7px 10px;
  border-radius: 6px;
}

.nav a:hover,
.nav a:focus-visible {
  color: var(--ink);
  background: var(--soft-line);
  outline: none;
}

.section {
  padding: 72px 24px;
}

.section-tight {
  padding-top: 48px;
}

.section-muted {
  background: var(--paper);
  border-block: 1px solid var(--soft-line);
}

.container {
  max-width: var(--max);
  margin: 0 auto;
}

.narrow {
  max-width: var(--narrow);
}

.hero {
  padding-top: 88px;
}

.hero-logo {
  display: block;
  height: clamp(72px, 11vw, 128px);
  width: auto;
  max-width: 100%;
  margin-bottom: 20px;
}

.hero-title-text {
  display: block;
  font-size: clamp(1.9rem, 4.2vw, 3.4rem);
  line-height: 1.08;
}

.author-block {
  margin-top: 4px;
}

.author-list {
  max-width: 980px;
  margin-bottom: 10px;
  font-size: 1.08rem;
  font-weight: 600;
  line-height: 1.7;
}

.author-list .author {
  white-space: nowrap;
}

.author-list .author:not(:last-child)::after {
  content: ",";
  margin-right: 0.45em;
}

.affiliation-list {
  margin-bottom: 6px;
  font-size: 0.98rem;
  line-height: 1.6;
}

.affiliation-list .affiliation {
  white-space: nowrap;
}

.affiliation-list .affiliation:not(:last-child) {
  margin-right: 1.1em;
}

.author-notes {
  margin-bottom: 0;
  font-size: 0.88rem;
  opacity: 0.75;
}

.hero-links {
  display: flex;
  flex-wrap: wrap;
  gap: 12px;
  margin-top: 22px;
}

.link-button {
  display: inline-flex;
  align-items: center;
  gap: 8px;
  padding: 9px 20px;
  background: var(--ink);
  color: #fff;
  border-radius: 999px;
  font-size: 0.92rem;
  font-weight: 650;
  text-decoration: none;
  transition: background 0.15s ease, transform 0.15s ease;
}

.link-button:hover {
  background: var(--accent-strong);
  transform: translateY(-1px);
}

.link-button svg {
  flex-shrink: 0;
}

.link-button-emoji {
  font-size: 0.95rem;
  line-height: 1;
}

.link-button.is-disabled {
  background: var(--muted);
  opacity: 0.55;
  cursor: not-allowed;
}

.link-button.is-disabled:hover {
  background: var(--muted);
  transform: none;
}

.soon-tag {
  font-size: 0.8em;
  font-weight: 500;
  opacity: 0.85;
}

.bibtex-block {
  margin: 0;
  padding: 20px 24px;
  background: var(--paper, #f6f6f4);
  border: 1px solid var(--soft-line, #e2e2de);
  border-radius: 10px;
  overflow-x: auto;
  font-size: 0.88rem;
  line-height: 1.6;
}

.bibtex-block code {
  font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace;
}

.eyebrow,
.section-kicker {
  margin: 0 0 10px;
  color: var(--accent);
  text-transform: uppercase;
  font-size: 0.78rem;
  font-weight: 800;
  letter-spacing: 0.08em;
}

h1,
h2,
h3,
h4,
p {
  margin-top: 0;
}

h1 {
  max-width: 980px;
  margin-bottom: 20px;
  font-size: clamp(2.4rem, 6vw, 5rem);
  line-height: 1;
  font-weight: 820;
}

h2 {
  margin-bottom: 14px;
  font-size: clamp(1.75rem, 3vw, 2.55rem);
  line-height: 1.1;
}

h3 {
  margin-bottom: 8px;
  font-size: 1.35rem;
}

h4 {
  margin-bottom: 7px;
  font-size: 1rem;
}

.section-heading {
  max-width: 820px;
  margin-bottom: 26px;
}

.section-heading.centered {
  margin-inline: auto;
  text-align: center;
}

.section-heading p:not(.section-kicker) {
  color: var(--muted);
}

.video-block {
  margin: 0;
}

.video-frame {
  position: relative;
  overflow: hidden;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background:
    linear-gradient(135deg, rgba(17, 100, 102, 0.22), rgba(163, 58, 42, 0.14)),
    #15191f;
  aspect-ratio: 4 / 3;
}

.video-frame-large {
  aspect-ratio: 16 / 9;
  box-shadow: var(--shadow);
}

.video-frame video {
  position: absolute;
  inset: 0;
  width: 100%;
  height: 100%;
  display: block;
  object-fit: contain;
}

.replace-note {
  position: absolute;
  left: 12px;
  bottom: 12px;
  max-width: calc(100% - 24px);
  padding: 6px 9px;
  border-radius: 6px;
  background: rgba(255, 255, 255, 0.9);
  color: var(--ink);
  font-size: 0.8rem;
  font-weight: 760;
  line-height: 1.3;
}

/* Don't overlay file-name hints on top of video tiles. */
.video-frame .replace-note {
  display: none;
}

figcaption {
  margin-top: 10px;
  color: var(--muted);
  font-size: 0.95rem;
}

.abstract-text {
  color: #303741;
  font-size: 1.06rem;
  text-align: justify;
}

.task-toolbar {
  display: flex;
  flex-wrap: wrap;
  gap: 8px;
  margin-bottom: 16px;
}

.task-filter {
  border: 1px solid var(--line);
  border-radius: 999px;
  background: var(--paper);
  color: var(--muted);
  cursor: pointer;
  font-size: 0.9rem;
  font-weight: 720;
  padding: 8px 12px;
}

.task-filter:hover,
.task-filter:focus-visible,
.task-filter.is-active {
  border-color: rgba(17, 100, 102, 0.42);
  background: rgba(17, 100, 102, 0.08);
  color: var(--accent-strong);
  outline: none;
}

.category-pill {
  display: inline-flex;
  align-items: center;
  min-height: 24px;
  border-radius: 999px;
  background: rgba(138, 91, 18, 0.1);
  color: #6d460c;
  font-size: 0.78rem;
  font-weight: 780;
  line-height: 1.1;
  padding: 4px 8px;
  white-space: nowrap;
}

.loading-note {
  margin: 0;
  color: var(--muted);
}

.tabs {
  display: flex;
  flex-wrap: wrap;
  gap: 8px;
  margin-bottom: 26px;
  border-bottom: 1px solid var(--line);
}

.tab-button {
  margin-bottom: -1px;
  border: 1px solid transparent;
  border-bottom-color: var(--line);
  border-radius: 8px 8px 0 0;
  background: transparent;
  color: var(--muted);
  cursor: pointer;
  font-weight: 750;
  padding: 11px 14px;
}

.tab-button:hover,
.tab-button:focus-visible {
  color: var(--ink);
  background: var(--soft-line);
  outline: none;
}

.tab-button.is-active {
  border-color: var(--line);
  border-bottom-color: var(--paper);
  background: var(--paper);
  color: var(--accent-strong);
}

.tab-panel {
  background: var(--paper);
  border: 1px solid var(--line);
  border-radius: 0 var(--radius) var(--radius) var(--radius);
  padding: 24px;
}

.panel-intro {
  max-width: 780px;
  margin-bottom: 18px;
}

.panel-intro p,
.demo-card p,
.comparison-card p {
  color: var(--muted);
}

.demo-grid {
  display: grid;
  grid-template-columns: repeat(3, minmax(0, 1fr));
  gap: 18px;
}

.visual-group {
  margin-top: 28px;
}

.visual-group:first-of-type {
  margin-top: 0;
}

.visual-group-head {
  display: flex;
  align-items: baseline;
  gap: 12px;
  flex-wrap: wrap;
  margin-bottom: 14px;
  padding-bottom: 8px;
  border-bottom: 1px solid var(--soft-line);
}

.visual-group-head h4 {
  margin: 0;
  font-size: 1.05rem;
  color: var(--ink);
}

.visual-group-head p {
  margin: 0;
  color: var(--muted);
  font-size: 0.9rem;
}

.visual-grid {
  align-items: start;
}

.visual-grid .demo-card h4 {
  display: flex;
  align-items: flex-start;
  min-height: 2.6em;
}

.visual-grid h4 code {
  font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, "Liberation Mono", monospace;
  font-size: 0.9rem;
  white-space: normal;
  overflow-wrap: anywhere;
}

.visual-grid .demo-meta {
  margin-top: 8px;
}

.visual-grid .demo-meta div {
  grid-template-columns: 82px 1fr;
  gap: 10px;
}

.visual-grid .demo-meta dd {
  text-align: left;
}

.carousel {
  display: grid;
  grid-template-columns: 42px minmax(0, 1fr) 42px;
  gap: 12px;
  align-items: center;
}

.carousel-viewport {
  min-width: 0;
  overflow: hidden;
}

/* Sliding track: all cards sit in one row and the track translates smoothly. */
.carousel-track {
  display: flex;
  flex-wrap: nowrap;
  transform: translateX(0);
  transition: transform 0.5s cubic-bezier(0.22, 0.61, 0.36, 1);
  will-change: transform;
}

.carousel-track > .demo-card {
  flex: 0 0 calc((100% - 2 * 18px) / 3);
  min-width: 0;
}

@media (prefers-reduced-motion: reduce) {
  .carousel-track {
    transition: none;
  }
}

.carousel-button {
  width: 42px;
  height: 42px;
  border: 1px solid var(--line);
  border-radius: 50%;
  background: var(--paper);
  color: var(--accent-strong);
  cursor: pointer;
  font-size: 1.8rem;
  line-height: 1;
}

.carousel-button:hover,
.carousel-button:focus-visible {
  background: rgba(17, 100, 102, 0.08);
  outline: none;
}

.carousel-button:disabled {
  color: #adb5bd;
  cursor: not-allowed;
  opacity: 0.55;
}

.demo-card,
.comparison-card {
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: #fff;
  padding: 12px;
}

.demo-card h4,
.comparison-card h4 {
  margin-top: 12px;
}

.task-card-title {
  display: flex;
  align-items: start;
  justify-content: space-between;
  gap: 10px;
  margin-top: 12px;
}

.task-card-title h4 {
  min-width: 0;
  margin: 0;
}

.task-card-title code {
  font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, "Liberation Mono", monospace;
  font-size: 0.92rem;
  white-space: normal;
  overflow-wrap: anywhere;
}

.demo-meta {
  display: grid;
  gap: 7px;
  margin: 12px 0 0;
}

.demo-meta div {
  display: grid;
  grid-template-columns: 72px 1fr;
  gap: 8px;
  padding-top: 7px;
  border-top: 1px solid var(--soft-line);
}

.demo-meta dt {
  color: var(--accent-warm);
  font-size: 0.78rem;
  font-weight: 820;
  text-transform: uppercase;
}

.demo-meta dd {
  margin: 0;
  color: var(--muted);
  font-size: 0.9rem;
}

.task-demo-card .demo-meta div {
  grid-template-columns: 1fr;
  gap: 3px;
}

.task-demo-card .demo-meta dt {
  line-height: 1.2;
}

.robot-matrix {
  overflow-x: auto;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: var(--paper);
  padding: 12px;
}

.robot-matrix-grid {
  display: grid;
  grid-template-columns: 150px repeat(6, minmax(220px, 1fr));
  gap: 10px;
  min-width: 1500px;
}

.robot-axis-label,
.robot-hand-header,
.robot-arm-header {
  display: flex;
  align-items: center;
  justify-content: center;
  min-height: 44px;
  border: 1px solid var(--soft-line);
  border-radius: 6px;
  background: #f2f5f7;
  color: #363c45;
  font-size: 0.82rem;
  font-weight: 820;
  text-align: center;
}

.robot-arm-header {
  min-height: 160px;
  padding: 10px;
  background: rgba(17, 100, 102, 0.08);
  color: var(--accent-strong);
}

.robot-combo-card {
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: #fff;
  padding: 10px;
}

.robot-combo-card p {
  margin: 8px 0 0;
  color: var(--muted);
  font-size: 0.82rem;
  line-height: 1.35;
}

.system-layout {
  display: block;
}

.system-copy p {
  color: #303741;
  font-size: 1.02rem;
}

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

.section-lead {
  max-width: 760px;
  margin: 0 0 24px;
  color: #303741;
  font-size: 1.05rem;
}

.spec-list {
  margin: 0;
  padding: 0;
  list-style: none;
  display: flex;
  flex-direction: column;
  gap: 14px;
}

.spec-list li {
  position: relative;
  padding-left: 18px;
  color: #303741;
  font-size: 0.98rem;
  line-height: 1.5;
}

.spec-list li::before {
  content: "";
  position: absolute;
  left: 0;
  top: 0.6em;
  width: 7px;
  height: 7px;
  border-radius: 50%;
  background: var(--accent, #116466);
}

.system-figures {
  display: grid;
  grid-template-columns: 1fr 1fr;
  gap: 24px;
  margin-top: 32px;
}

.figure-block {
  margin: 0;
}

.figure-frame {
  position: relative;
  overflow: hidden;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: #fff;
}

.figure-frame img {
  width: 100%;
  height: auto;
  display: block;
}

/* Side-by-side system figures share one fixed height; images scale to fit. */
.system-figures .figure-frame {
  display: flex;
  align-items: center;
  justify-content: center;
  height: 340px;
  padding: 12px;
}

.system-figures .figure-frame img {
  width: auto;
  max-width: 100%;
  max-height: 100%;
  object-fit: contain;
}

.figure-wide {
  margin-top: 32px;
}

.table-wrap {
  overflow-x: auto;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: var(--paper);
}

.baseline-table {
  width: 100%;
  border-collapse: collapse;
  font-size: 0.92rem;
}

.baseline-table th,
.baseline-table td {
  padding: 11px 14px;
  text-align: center;
  border-bottom: 1px solid var(--soft-line);
  white-space: nowrap;
}

.baseline-table thead th {
  background: #f2f5f7;
  color: #363c45;
  font-weight: 820;
  border-bottom: 1px solid var(--line);
}

.baseline-table tbody th[scope="row"] {
  text-align: left;
  color: var(--ink);
  font-weight: 760;
}

.baseline-table td {
  color: var(--muted);
}

.baseline-table tbody th[scope="row"][rowspan] {
  vertical-align: middle;
  background: #f7f9fa;
  border-right: 1px solid var(--soft-line);
  font-weight: 800;
}

.baseline-table td.task-cell {
  text-align: left;
  color: var(--ink);
  white-space: nowrap;
}

.baseline-table .summary-row th,
.baseline-table .summary-row td {
  border-top: 1px solid var(--line);
  border-bottom: none;
  background: #f2f5f7;
  font-weight: 800;
  color: var(--ink);
}

.baseline-table .summary-row th[scope="row"] {
  text-align: right;
}

.table-note {
  margin: 10px 0 0;
  color: var(--muted);
  font-size: 0.85rem;
}

.footer {
  border-top: 1px solid var(--line);
  padding: 26px 24px;
  color: var(--muted);
  font-size: 0.92rem;
}

.footer p {
  margin: 0;
}

@media (max-width: 900px) {
  .demo-grid {
    grid-template-columns: 1fr;
  }

  .carousel-track > .demo-card {
    flex-basis: 100%;
  }

  .system-figures {
    grid-template-columns: 1fr;
  }

  .system-figures .figure-frame {
    height: auto;
  }

  .carousel {
    grid-template-columns: 36px minmax(0, 1fr) 36px;
    gap: 8px;
  }

  .carousel-button {
    width: 36px;
    height: 36px;
    font-size: 1.5rem;
  }

  .hero {
    padding-top: 60px;
  }

  .section {
    padding: 52px 18px;
  }

  .nav {
    justify-content: flex-start;
    padding-inline: 18px;
  }

  .tab-panel {
    padding: 18px;
  }
}

@media (max-width: 520px) {
  body {
    font-size: 15px;
  }

  .nav a {
    padding-inline: 8px;
  }

  .demo-meta div {
    grid-template-columns: 1fr;
    gap: 2px;
  }
}