@font-face {
  font-family: Inter;
  font-style: normal;
  font-weight: 100 900;
  font-display: swap;
  src: url('../fonts/InterVariable.woff2') format('woff2');
}

/* The warm accent echoes the follower in the paper's method figure. */
:root {
  --ink: #222723;
  --muted: #5d645f;
  --paper: #fff;
  --surface: #f8f7f4;
  --line: #dedfd8;
  --accent: #b14628;
  --accent-dark: #87361f;
  --leader: #486b97;
  --width: 1184px;
}

* { box-sizing: border-box; }
html { scroll-behavior: smooth; scroll-padding-top: 94px; }
body { margin: 0; font-family: Inter, -apple-system, BlinkMacSystemFont, 'Segoe UI', sans-serif; color: var(--ink); background: var(--paper); font-size: 16px; line-height: 1.65; -webkit-font-smoothing: antialiased; }
h1, h2, h3, p, figure { margin: 0; }
h1, h2, h3 { line-height: 1.2; }
h2 { font-size: clamp(28px, 3.3vw, 40px); font-weight: 600; letter-spacing: -1.25px; text-wrap: balance; }
h3 { font-size: 18px; font-weight: 600; letter-spacing: -.3px; }
p { text-wrap: pretty; }
a { color: var(--accent); text-decoration-thickness: 1px; text-underline-offset: 4px; }
a:hover { color: var(--accent-dark); }
button { font: inherit; cursor: pointer; }
button, a { -webkit-tap-highlight-color: transparent; }
button:focus-visible, a:focus-visible, summary:focus-visible, pre:focus-visible, video:focus-visible { outline: 3px solid var(--leader); outline-offset: 5px; }
img { display: block; max-width: 100%; height: auto; }
video { display: block; width: 100%; height: auto; }
[hidden] { display: none !important; }
.container { width: min(var(--width), calc(100% - 64px)); margin-inline: auto; }
.prose { max-width: 820px; }
.section { padding-block: 86px; }
.tinted { background: var(--surface); }
.eyebrow { color: var(--accent); font-size: 12px; letter-spacing: 1.65px; text-transform: uppercase; font-weight: 650; margin-bottom: 13px; }
.section-heading { max-width: 820px; margin-bottom: 36px; }
.section-heading > p:last-child { max-width: 740px; margin-top: 17px; color: var(--muted); font-size: 17px; }
.fine-print { font-size: 13px; color: var(--muted); line-height: 1.65; }
.icon { width: 18px; height: 18px; fill: none; stroke: currentColor; stroke-width: 1.6; stroke-linecap: round; stroke-linejoin: round; flex-shrink: 0; }
.icon-definitions { position: absolute; width: 0; height: 0; overflow: hidden; }
.sr-only { position: absolute; width: 1px; height: 1px; padding: 0; margin: -1px; overflow: hidden; clip: rect(0, 0, 0, 0); white-space: nowrap; border: 0; }
.skip-link { position: fixed; top: -100px; left: 20px; z-index: 20; background: white; padding: 12px 20px; }
.skip-link:focus { top: 10px; }

/* A small, single-row navigation. No dropdown or mobile-menu dependency. */
.site-header { position: sticky; top: 0; z-index: 10; border-bottom: 1px solid var(--line); background: var(--surface); }
.nav-inner { min-height: 62px; display: flex; align-items: center; gap: 24px; }
.nav-brand { color: var(--ink); font-size: 20px; font-weight: 750; letter-spacing: -.8px; text-decoration: none; }
.nav-brand span, .publication-title span { color: #b31b1b; }
.nav-inner nav { display: flex; gap: 25px; margin-left: auto; }
.nav-inner nav a { font-size: 13px; color: var(--muted); text-decoration: none; padding-block: 10px; }
.nav-inner nav a:hover { color: var(--accent); }

/* Publication heading and an immediate view of the physical robot. */
.hero { background: var(--surface); padding: 38px 0 28px; }
.publication-header { text-align: center; }
.venue { color: var(--accent); font-size: 12px; font-weight: 650; letter-spacing: 1.7px; }
.publication-title { font-size: clamp(62px, 6.8vw, 88px); line-height: 1.05; letter-spacing: -5px; font-weight: 750; margin-top: 10px; }
.paper-title { font-size: clamp(22px, 2.65vw, 31px); font-weight: 500; line-height: 1.28; letter-spacing: -.85px; margin: 15px auto 19px; max-width: 900px; text-wrap: balance; }
.publication-authors { display: flex; flex-wrap: wrap; justify-content: center; column-gap: 7px; row-gap: 3px; font-size: 14px; }
.publication-authors span { white-space: nowrap; }
.publication-authors a { color: var(--ink); text-decoration: none; }
.publication-authors a:hover { color: var(--accent); text-decoration: underline; }
sup { font-size: .7em; line-height: 0; vertical-align: super; margin-left: 1px; }
.affiliations { display: flex; flex-wrap: wrap; justify-content: center; gap: 4px 22px; color: var(--muted); font-size: 12px; margin-top: 8px; }
.author-note { color: var(--muted); font-size: 11px; margin-top: 5px; }
.publication-links { display: flex; flex-wrap: wrap; justify-content: center; gap: 10px; margin-top: 21px; }
.resource-link { display: inline-flex; align-items: center; justify-content: center; gap: 9px; padding: 8px 17px; min-height: 41px; border: 1px solid #c8cbc3; border-radius: 5px; text-decoration: none; font-size: 13px; font-weight: 550; color: var(--ink); background: transparent; }
.resource-link:hover { border-color: var(--accent); color: var(--accent); }
.resource-link.primary { color: #fff; background: #111; border-color: #111; }
.resource-link.primary:hover { background: #303030; border-color: #303030; }
.arxiv-mark { width: 15px; height: 20px; flex-shrink: 0; }
.brand-mark { width: 18px; height: 18px; object-fit: contain; flex-shrink: 0; }
.teaser { margin-top: 29px; }
.hero-media { position: relative; }
.playback-note { margin: 0 auto 14px; color: var(--ink); font-family: inherit; font-size: 15px; font-weight: 500; line-height: 1.5; text-align: center; text-wrap: balance; }
.playback-note span { color: var(--accent); font-weight: 650; white-space: nowrap; }
.hero-media video { border-radius: 5px; }
.hero-media .hero-mobile { display: none; }
.hero-labels { position: absolute; inset: auto 0 14px; display: grid; grid-template-columns: 1fr 1fr; text-align: center; color: #fff; font-size: 13px; font-weight: 500; pointer-events: none; }
.hero-labels span { justify-self: center; padding: 3px 11px; background: #222723e8; border-radius: 3px; }
.teaser figcaption { margin-top: 12px; text-align: center; font-size: 12px; color: var(--muted); }
.teaser figcaption > span { color: var(--ink); font-weight: 600; margin-right: 6px; }

.summary-section { padding: 58px 0 54px; border-bottom: 1px solid var(--line); }
.project-summary { max-width: 940px; margin: auto; font-size: clamp(22px, 2.6vw, 29px); text-align: center; line-height: 1.5; letter-spacing: -.5px; }
.project-summary strong { color: var(--accent); font-weight: 550; }
.highlights { display: grid; grid-template-columns: 1fr 1fr 1.2fr; max-width: 950px; margin: 35px auto 0; text-align: center; }
.highlights > div { padding: 0 23px; border-right: 1px solid var(--line); display: flex; flex-direction: column; gap: 4px; }
.highlights > div:last-child { border-right: 0; }
.highlights span:last-child { font-size: 12px; color: var(--muted); }
.highlight-value { font-size: 17px; font-weight: 600; }

.method-figure { max-width: 1050px; margin-inline: auto; }
.method-figure a { display: block; }
.method-figure img { width: 100%; }
.method-steps { list-style: none; padding: 0; margin: 35px 0 0; display: grid; grid-template-columns: repeat(3, 1fr); gap: 32px; }
.method-steps li { border-top: 2px solid var(--line); padding-top: 17px; }
.method-steps .leader-step { border-color: var(--leader); }
.method-steps .follower-step { border-color: var(--accent); }
.step-index { font-size: 11px; font-weight: 650; color: var(--muted); display: block; margin-bottom: 11px; }
.leader-step .step-index { color: var(--leader); }
.follower-step .step-index { color: var(--accent); }
.method-steps p { font-size: 14px; color: var(--muted); margin-top: 10px; }

/* Video galleries remain unboxed: the experiments are the visual focus. */
.video-grid { display: grid; grid-template-columns: repeat(3, minmax(0, 1fr)); gap: 28px 22px; }
.two-columns { grid-template-columns: repeat(2, minmax(0, 1fr)); }
.task { min-width: 0; }
.task video { border-radius: 4px; }
.task figcaption { margin-top: 12px; }
.task h3 { font-size: 15px; }
.task h3 a { color: var(--ink); text-decoration: none; }
.task h3 a:hover { color: var(--accent); text-decoration: underline; }
.task p { color: var(--muted); font-size: 12px; margin-top: 4px; }
.more-tasks { margin-top: 30px; border-top: 1px solid var(--line); }
.more-tasks summary { display: flex; align-items: center; justify-content: space-between; cursor: pointer; list-style: none; padding: 17px 0 5px; font-size: 13px; font-weight: 550; color: var(--muted); }
.more-tasks summary::-webkit-details-marker { display: none; }
.more-tasks summary > span { font-size: 23px; font-weight: 400; }
.more-tasks[open] summary > span { transform: rotate(45deg); }
.extra-grid { padding-top: 22px; grid-template-columns: repeat(4, minmax(0, 1fr)); }

.results-layout { display: grid; grid-template-columns: minmax(0, 1.45fr) minmax(0, 1fr); gap: 64px; align-items: start; }
.chart-heading { display: flex; justify-content: space-between; align-items: center; gap: 15px; margin-bottom: 24px; }
.chart-heading h3 { font-size: 16px; }
.chart-heading > span { font-size: 11px; color: var(--muted); }
.bar-chart { font-size: 12px; }
.bar-row, .chart-axis { display: grid; grid-template-columns: 123px minmax(0, 1fr) 37px; gap: 14px; align-items: center; margin-bottom: 17px; }
.bar-row > span { font-weight: 500; }
.bar-track { height: 21px; background: #f3f3ef; }
.bar { height: 100%; width: var(--value); background: #a5b2b4; }
.bar-row strong { font-weight: 550; text-align: right; font-variant-numeric: tabular-nums; }
.bar-row.ours { color: var(--accent); }
.bar-row.ours .bar { background: var(--accent); }
.chart-axis { margin: 0; color: var(--muted); font-size: 10px; }
.chart-axis > div { display: flex; justify-content: space-between; border-top: 1px solid var(--line); padding-top: 5px; }
.benchmark-figure figcaption { color: var(--muted); margin-top: 20px; font-size: 12px; line-height: 1.6; }
.result-delta { color: var(--accent); font-size: 52px; font-weight: 550; letter-spacing: -2px; line-height: 1.1; margin-bottom: 26px; }
.result-delta > span { display: block; font-size: 12px; letter-spacing: 0; font-weight: 450; margin-top: 10px; }
.result-context h3 { margin-bottom: 12px; font-size: 19px; }
.result-context > p:not(.result-delta) { color: var(--muted); font-size: 14px; margin-bottom: 17px; }
.generalization-block { margin-top: 62px; padding-top: 38px; border-top: 1px solid var(--line); }
.subsection-heading { max-width: 810px; margin-bottom: 25px; }
.subsection-heading h3 { font-size: 25px; font-weight: 550; letter-spacing: -.7px; }
.subsection-heading p { color: var(--muted); font-size: 14px; margin-top: 13px; }
.generalization-layout { display: grid; grid-template-columns: 1.5fr 1fr; gap: 40px; align-items: center; }
.compact-table { min-width: 0; }
table { width: 100%; border-collapse: collapse; font-size: 12px; font-variant-numeric: tabular-nums; line-height: 1.5; }
caption { text-align: left; font-size: 11px; color: var(--muted); margin-bottom: 14px; }
th, td { padding: 11px 9px; text-align: right; border-bottom: 1px solid var(--line); }
thead th { color: var(--muted); font-size: 11px; font-weight: 500; }
th:first-child { text-align: left; padding-left: 0; }
tbody th { font-weight: 500; }
tr.ours { color: var(--accent); }
tr.ours th, tr.ours td { font-weight: 650; }

.real-world-section { background: var(--surface); }
.real-results { display: grid; grid-template-columns: 1fr 1.55fr; gap: 80px; margin-top: 38px; padding-top: 32px; border-top: 1px solid var(--line); align-items: center; }
.real-headline { font-size: 56px; font-weight: 550; line-height: 1.1; letter-spacing: -2px; color: var(--accent); }
.real-headline span { font-size: 29px; }
.real-results > div > p:nth-child(2) { font-size: 14px; margin-top: 6px; }
.real-results .fine-print { font-size: 12px; margin-top: 14px; }
.small-button { display: inline-flex; justify-content: center; align-items: center; gap: 8px; padding: 9px 13px; border: 1px solid #c8cbc3; border-radius: 4px; font-size: 12px; font-weight: 500; background: transparent; color: var(--ink); white-space: nowrap; min-height: 38px; }
.small-button:hover { border-color: var(--accent); color: var(--accent); }
.video-presentation { max-width: 1000px; }
.video-presentation video { border-radius: 4px; }
.prose > h2 { margin-bottom: 25px; }
.prose > p:not(.eyebrow) { color: var(--muted); line-height: 1.85; }
.prose a { overflow-wrap: anywhere; }
.citation-section { padding-top: 64px; }
.citation-heading { display: flex; align-items: center; justify-content: space-between; margin-bottom: 22px; gap: 18px; }
pre { padding: 25px; margin: 0; background: var(--surface); border: 1px solid var(--line); border-radius: 4px; max-width: 100%; overflow-x: auto; font-size: 12px; line-height: 1.85; tab-size: 2; }
code { font-family: 'SFMono-Regular', Consolas, 'Liberation Mono', monospace; }
.acknowledgments-section { padding-bottom: 64px; }
.acknowledgments-section h2 { font-size: 22px; margin-bottom: 14px; }
.footer { padding: 35px 0 38px; border-top: 1px solid var(--line); background: var(--surface); }
.footer .prose > p { font-size: 12px; line-height: 1.75; }
.footer .template-credit { margin-top: 16px; font-size: 11px; }
.footer a { color: var(--muted); }

@media (min-width: 1440px) {
  .hero { padding-top: 41px; }
}

@media (max-width: 1000px) {
  .nav-inner { gap: 15px; }
  .nav-inner nav { gap: 17px; }
  .results-layout { gap: 35px; }
  .generalization-layout { grid-template-columns: 1fr; gap: 27px; }
  .generalization-layout .compact-table { max-width: 620px; }
  .real-results { gap: 35px; }
  .extra-grid { grid-template-columns: repeat(2, minmax(0, 1fr)); }
}

@media (max-width: 760px) {
  html { scroll-padding-top: 116px; }
  .container { width: calc(100% - 36px); }
  .section { padding-block: 58px; }
  .nav-inner { flex-wrap: wrap; gap: 0 16px; padding-block: 9px 5px; }
  .nav-brand { font-size: 18px; }
  .nav-inner nav { order: 3; width: 100%; justify-content: space-between; gap: 8px; margin: 3px 0 0; }
  .nav-inner nav a { font-size: 11px; padding: 6px 0; }
  .hero { padding-top: 30px; }
  .publication-title { letter-spacing: -3.8px; }
  .paper-title { margin: 13px auto 18px; letter-spacing: -.5px; }
  .desktop-break { display: none; }
  .publication-authors { font-size: 12px; gap: 4px 6px; max-width: 600px; margin-inline: auto; }
  .affiliations { column-gap: 13px; font-size: 11px; margin-top: 10px; }
  .publication-links { gap: 7px; margin-top: 19px; }
  .resource-link { padding: 7px 12px; font-size: 12px; }
  .teaser { margin-top: 24px; }
  .hero-labels { font-size: 10px; bottom: 8px; }
  .hero-labels span { padding: 1px 7px; }
  .teaser figcaption { font-size: 11px; }
  .teaser figcaption > span { display: block; margin: 0 0 2px; }
  .summary-section { padding: 38px 0; }
  .highlights { gap: 20px; margin-top: 27px; grid-template-columns: 1fr; text-align: left; }
  .highlights > div { border: 0; border-left: 2px solid var(--line); padding: 0 0 0 15px; gap: 1px; }
  .highlight-value { font-size: 16px; }
  .section-heading { margin-bottom: 27px; }
  .section-heading > p:last-child { font-size: 15px; }
  .method-steps { grid-template-columns: 1fr; gap: 23px; margin-top: 25px; }
  .method-steps li { display: grid; grid-template-columns: 24px 1fr; gap: 8px 13px; padding-top: 16px; }
  .method-steps .step-index { margin: 0; align-self: center; }
  .method-steps h3 { font-size: 17px; }
  .method-steps p { grid-column: 2; margin: 0; }
  .video-grid { grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 26px 15px; }
  .task p { font-size: 11px; }
  .results-layout { grid-template-columns: 1fr; gap: 30px; }
  .result-context { border-top: 1px solid var(--line); padding-top: 25px; }
  .result-delta { font-size: 43px; margin-bottom: 20px; }
  .generalization-block { margin-top: 37px; padding-top: 29px; }
  .subsection-heading h3 { font-size: 23px; }
  .real-results { grid-template-columns: 1fr; gap: 25px; margin-top: 29px; }
  .real-results > div:first-child { max-width: 500px; }
  .real-headline { font-size: 48px; }
  .citation-section { padding-top: 40px; }
  pre { padding: 17px; font-size: 11px; }
  .prose > p:not(.eyebrow) { font-size: 15px; }
}

@media (max-width: 480px) {
  .hero-media .hero-desktop { display: none; }
  .hero-media .hero-mobile { display: block; }
  .hero-labels { grid-template-columns: 1fr; }
  .hero-secondary-label { display: none; }
  .venue { font-size: 11px; }
  .paper-title { font-size: 22px; }
  .publication-authors { max-width: 350px; }
  .affiliations { max-width: 340px; margin-inline: auto; }
  .publication-links { max-width: 350px; margin-inline: auto; }
  .video-grid { grid-template-columns: 1fr; }
  .task h3 { font-size: 16px; }
  .task p { font-size: 12px; }
  .chart-heading { display: block; margin-bottom: 20px; }
  .chart-heading > span { display: block; margin-top: 7px; }
  .bar-row, .chart-axis { grid-template-columns: 107px minmax(0, 1fr) 30px; gap: 8px; font-size: 11px; }
  .bar-track { height: 18px; }
  th, td { padding: 9px 4px; font-size: 10px; }
  thead th { font-size: 10px; }
  .real-results table th:first-child { max-width: 93px; }
  .citation-heading h2 { font-size: 28px; }
  .small-button { font-size: 11px; }
}

@media (prefers-reduced-motion: reduce) {
  html { scroll-behavior: auto; }
}