@font-face { font-family: "Google Sans"; font-style: normal; font-weight: 400; font-display: swap; src: url("../fonts/google-sans-400.woff") format("woff"); }
@font-face { font-family: "Google Sans"; font-style: normal; font-weight: 600; font-display: swap; src: url("../fonts/google-sans-600.woff") format("woff"); }
@font-face { font-family: "Noto Sans"; font-style: normal; font-weight: 400; font-display: swap; src: url("../fonts/noto-sans-400.woff") format("woff"); }
@font-face { font-family: "Noto Sans"; font-style: normal; font-weight: 600; font-display: swap; src: url("../fonts/noto-sans-600.woff") format("woff"); }
@font-face { font-family: "Noto Sans"; font-style: normal; font-weight: 700; font-display: swap; src: url("../fonts/noto-sans-700.woff") format("woff"); }
@font-face { font-family: "Comic Sans MS"; font-style: normal; font-weight: 400; font-display: swap; src: url("../fonts/ComicSansMS.ttf") format("truetype"); }

:root {
  color-scheme: light;
  --ink: #363636;
  --muted: #666b73;
  --accent: #187aa5;
  --tint: #f6f7f8;
  --line: #e7e9ec;
  --page-width: 1040px;
}

* { box-sizing: border-box; }
html { scroll-behavior: smooth; scroll-padding-top: 78px; }
body {
  margin: 0;
  color: var(--ink);
  background: #fff;
  font-family: "Noto Sans", sans-serif;
  font-size: 16px;
  line-height: 1.5;
  -webkit-font-smoothing: antialiased;
}
a { color: var(--accent); text-decoration: none; }
a:hover { text-decoration: underline; }
button { font: inherit; }
button, a { -webkit-tap-highlight-color: transparent; }
:focus-visible { outline: 3px solid var(--accent); outline-offset: 5px; }
img, video { display: block; width: 100%; height: auto; }
figure { margin: 0; }
sup { font-size: .68em; line-height: 0; vertical-align: super; }
strong { font-weight: 700; }
.container { width: min(var(--page-width), calc(100% - 48px)); margin-inline: auto; }
.prose-container { max-width: 840px; }
.skip-link { position: fixed; top: -80px; left: 20px; z-index: 10; background: #fff; padding: 10px 16px; }
.skip-link:not(:focus) { width: 1px; height: 1px; padding: 0; overflow: hidden; clip-path: inset(50%); }
.skip-link:focus { top: 8px; }
.site-header { border-bottom: 1px solid var(--line); }
.site-nav { max-width: 1120px; min-height: 58px; margin: auto; padding: 10px 24px; display: flex; align-items: center; justify-content: space-between; gap: 20px; }
.wordmark { color: var(--ink); font-size: 17px; font-weight: 750; letter-spacing: .055em; white-space: nowrap; }
.wordmark span { font-weight: 450; }
.wordmark:hover { text-decoration: none; }
.nav-links { display: flex; gap: 26px; font-size: 14px; }
.nav-links a { color: #646972; }
.nav-links a:hover { color: var(--accent); }
.publication-header { padding: 63px 0 32px; text-align: center; }
h1 { margin: 0 auto 27px; font-family: "Google Sans", sans-serif; font-size: clamp(30px, 3.7vw, 48px); line-height: 1.125; font-weight: 600; }
.authors, .affiliations, .teaser-section { font-family: "Google Sans", sans-serif; }
.title-lead { display: block; margin-bottom: 4px; }
.authors { display: flex; flex-wrap: wrap; justify-content: center; gap: 3px 18px; font-size: 20px; line-height: 1.75; color: var(--accent); }
.authors span { white-space: nowrap; }
.authors sup { margin-left: 2px; color: var(--ink); }
.affiliations { display: flex; flex-wrap: wrap; justify-content: center; gap: 2px 24px; margin-top: 10px; font-size: 18px; }
.publication-links { display: flex; flex-wrap: wrap; justify-content: center; gap: 9px; margin-top: 27px; }
.resource-button { display: inline-flex; align-items: center; justify-content: center; gap: 9px; min-height: 45px; padding: 8px 20px; border: 0; border-radius: 999px; background: #363636; color: #fff; font-size: 18px; font-weight: 450; line-height: 1.3; }
.resource-button:disabled { opacity: 1; cursor: default; -webkit-text-fill-color: #fff; }
.resource-button svg { width: 21px; height: 21px; flex: none; }
.teaser-section { padding: 18px 0 55px; }
.project-description { max-width: 770px; margin: 0 auto 29px; color: var(--muted); text-align: center; font-size: 17px; }
.section { padding: 62px 0; }
.section-tinted { background: var(--tint); }
h2 { margin: 0 0 24px; text-align: center; font-size: 32px; font-weight: 600; line-height: 1.125; }
h3 { margin: 0 0 12px; font-size: 24px; font-weight: 600; line-height: 1.125; }
p { margin: 0 0 17px; }
.section-intro { max-width: 760px; margin: -2px auto 30px; text-align: center; color: var(--muted); }
.research-figure { min-width: 0; }
.figure-link { position: relative; display: block; overflow: hidden; border-radius: 5px; background: #fff; cursor: zoom-in; }
.figure-link img { transition: opacity .16s ease; }
.figure-link:hover img { opacity: .96; }
.enlarge-label { position: absolute; right: 10px; bottom: 10px; border: 1px solid var(--line); border-radius: 4px; background: rgba(255,255,255,.96); padding: 3px 9px; font-size: 12px; font-weight: 500; color: #50565c; opacity: 0; transition: opacity .16s ease; }
.figure-link:hover .enlarge-label, .figure-link:focus-visible .enlarge-label { opacity: 1; }
figcaption { margin: 15px auto 0; color: #60656b; font-size: 15px; line-height: 1.65; }
.teaser-figure figcaption { max-width: 960px; text-align: center; font-size: 20px; line-height: 1.5; }
.abstract-text { text-align: justify; hyphens: auto; }
.abstract-text p:last-child { margin-bottom: 0; }
.video-frame { overflow: hidden; border-radius: 6px; border: 1px solid var(--line); background: #fff; }
.video-frame video { aspect-ratio: 16/9; object-fit: contain; }
.dataset-videos { margin-bottom: 40px; }
.dataset-montage { overflow: hidden; border-radius: 6px; border: 1px solid var(--line); }
.dataset-montage img { aspect-ratio: 1040/440; }
.mission-caption { margin: 28px 0 18px; text-align: center; }
.action-clips { display: grid; grid-template-columns: repeat(3, minmax(0, 1fr)); gap: 20px; }
.action-clip figcaption { margin-top: 12px; text-align: center; font-size: 14px; line-height: 1.5; }
.dataset-stats { display: grid; grid-template-columns: repeat(4, 1fr); margin: 0 auto 35px; padding: 4px 0 0; max-width: 850px; text-align: center; }
.dataset-stats strong { display: block; color: #626262; font-size: 30px; letter-spacing: -.035em; line-height: 1.4; }
.dataset-stats .stat-label { display: inline-flex; align-items: center; justify-content: center; gap: 7px; color: #626262; font-family: "Comic Sans MS", "Comic Sans", cursive; font-size: 16px; font-weight: 400; line-height: 1.5; }
.dataset-stats .stat-emoji { width: 1.3em; height: 1.3em; flex: none; object-fit: contain; }
.result-block { margin-top: 35px; }
.result-block + .result-block { margin-top: 50px; padding-top: 40px; border-top: 1px solid var(--line); }
.result-block > p { max-width: 920px; margin-bottom: 26px; }
.radar-figure { max-width: 880px; margin-inline: auto; }
.real-world-results { margin-top: 50px; }
.autonomy-tasks { margin-top: 50px; }
.autonomy-tasks h3 { margin-bottom: 22px; }
.task-carousel { position: relative; }
.task-videos { display: grid; width: 100%; overflow: hidden; }
.task-video { grid-area: 1 / 1; align-self: start; width: 100%; min-width: 0; }
.task-video[hidden] { display: none; }
.task-video .video-frame { background: #111; }
#task-egg { object-fit: cover; }
.task-video figcaption { margin-top: 18px; text-align: center; font-size: 20px; }
.task-video-sequence figcaption { max-width: 760px; text-align: left; }
.task-sequence-title { margin-bottom: 18px; text-align: center; }
.task-video-sequence .task-missions { font-size: 16px; }
.task-missions { display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 5px 30px; margin: 8px 0 0; padding-left: 22px; }
.task-missions li { padding-left: 2px; }
.task-carousel-controls { position: absolute; inset: 0 0 auto; aspect-ratio: 16/9; pointer-events: none; }
.task-carousel-arrow { position: absolute; top: 50%; display: grid; place-items: center; width: 52px; height: 52px; padding: 0; border: 1px solid #e7e9ec; border-radius: 50%; background: #fff; color: #4a4a4a; box-shadow: 0 2px 9px rgba(0,0,0,.12); cursor: pointer; pointer-events: auto; transform: translateY(-50%); transition: background .15s ease, box-shadow .15s ease; }
.task-carousel-arrow:hover { background: #f2f3f4; box-shadow: 0 3px 12px rgba(0,0,0,.18); }
.task-carousel-arrow svg { width: 22px; height: 22px; fill: currentColor; }
.task-carousel-prev { left: -20px; }
.task-carousel-next { right: -20px; }
.task-carousel-dots { display: flex; justify-content: center; gap: 0; margin-top: 12px; }
.task-dot { display: grid; place-items: center; width: 32px; height: 40px; padding: 0; border: 0; border-radius: 6px; background: transparent; cursor: pointer; }
.task-dot::before { content: ""; width: 10px; height: 10px; border-radius: 50%; background: #b1b3b6; transition: background .15s ease; }
.task-dot:hover::before { background: #73777c; }
.task-dot[aria-current="true"]::before { background: #363636; }
.task-carousel-status { position: absolute; width: 1px; height: 1px; padding: 0; margin: -1px; overflow: hidden; clip-path: inset(50%); white-space: nowrap; }
.result-copy { margin-bottom: 28px; }
.quantitative-figure { width: min(100%, 800px); margin-inline: auto; }
.result-copy p { font-size: 16px; }
.result-copy strong { color: var(--accent); }
.bibtex-section h2 { text-align: left; }
.bibtex-placeholder { min-height: 94px; margin: 0; border: 1px solid var(--line); border-radius: 5px; background: #f5f5f5; padding: 24px; white-space: pre-wrap; }
.site-footer { background: #fafafa; border-top: 1px solid var(--line); padding: 26px 24px; text-align: center; font-size: 13px; color: #737780; }
.site-footer p { margin: 0; }
.figure-dialog { border: none; border-radius: 8px; padding: 44px 22px 16px; width: min(1500px, 96vw); max-width: 96vw; max-height: 94vh; color: var(--ink); box-shadow: 0 20px 90px rgba(0,0,0,.3); }
.figure-dialog::backdrop { background: rgba(20,26,33,.76); }
.dialog-close { position: absolute; right: 8px; top: 4px; display: grid; place-items: center; width: 40px; height: 36px; border: 0; background: #fff; border-radius: 4px; font-size: 32px; cursor: pointer; }
.dialog-scroll { max-height: 72vh; overflow: auto; }
.dialog-scroll img { max-height: 70vh; width: auto; max-width: 100%; margin: auto; object-fit: contain; }
.figure-dialog p { margin: 14px 0 0; font-size: 14px; line-height: 1.5; }
body.dialog-open { overflow: hidden; }

@media (max-width: 800px) {
  .publication-header { padding-top: 45px; }
  .desktop-break { display: none; }
  .authors { font-size: 18px; gap: 2px 16px; }
  .affiliations { font-size: 16px; }
  .task-carousel-arrow { width: 44px; height: 44px; }
  .task-carousel-prev { left: 8px; }
  .task-carousel-next { right: 8px; }
}
@media (max-width: 700px) {
  .action-clips { grid-template-columns: 1fr; gap: 24px; max-width: 520px; margin-inline: auto; }
  .task-missions { grid-template-columns: 1fr; gap: 5px; }
  .task-video figcaption { font-size: 17px; }
  .task-video-sequence .task-missions { font-size: 15px; }
}
@media (max-width: 520px) {
  body { font-size: 16px; }
  .container { width: calc(100% - 32px); }
  .site-nav { min-height: 54px; padding-inline: 16px; gap: 14px; }
  .wordmark { font-size: 14px; }
  .nav-links { gap: 14px; font-size: 12px; }
  .publication-header { padding: 35px 0 24px; }
  h1 { font-size: 30px; line-height: 1.2; margin-bottom: 23px; }
  .title-lead { margin-bottom: 9px; }
  .authors { font-size: 16px; gap: 3px 13px; }
  .affiliations { flex-direction: column; gap: 3px; margin-top: 13px; font-size: 15px; }
  .publication-links { display: grid; grid-template-columns: repeat(2, 1fr); gap: 9px; max-width: 270px; margin: 24px auto 0; }
  .resource-button { min-height: 39px; padding: 8px 13px; font-size: 15px; gap: 6px; }
  .resource-button svg { width: 17px; height: 17px; }
  .project-description { font-size: 15px; margin-bottom: 23px; }
  .teaser-section { padding: 12px 0 36px; }
  .section { padding: 40px 0; }
  h2 { font-size: 26px; }
  h3 { font-size: 21px; }
  .section-intro { font-size: 15px; margin-bottom: 25px; }
  figcaption { font-size: 13px; margin-top: 12px; }
  .teaser-figure figcaption { text-align: center; font-size: 17px; }
  .abstract-text { text-align: left; }
  .dataset-stats { grid-template-columns: repeat(2, 1fr); gap: 20px 0; margin-bottom: 28px; }
  .dataset-stats strong { font-size: 27px; }
  .dataset-stats .stat-label { font-size: 15px; gap: 6px; }
  .result-block + .result-block { margin-top: 33px; padding-top: 30px; }
  .real-world-results { margin-top: 33px; }
  .autonomy-tasks { margin-top: 33px; }
  .enlarge-label { right: 5px; bottom: 5px; padding: 2px 6px; font-size: 10px; opacity: 1; }
  .figure-dialog { padding: 44px 12px 14px; }
  .dialog-scroll img { max-width: none; min-width: 100%; max-height: none; width: 900px; }
  .figure-dialog p { font-size: 12px; }
}
@media (prefers-reduced-motion: reduce) {
  html { scroll-behavior: auto; }
  *, *::before, *::after { transition: none !important; }
}