:root {
  --ink: #13151a;
  --muted: #5d6572;
  --line: #dfe4ec;
  --paper: #f7f8fb;
  --panel: #ffffff;
  --blue: #256f9f;
  --blue-deep: #16496e;
  --green: #4d8b4a;
  --orange: #b85b31;
  --red: #b93a31;
  --shadow: 0 18px 42px rgba(20, 31, 45, 0.13);
}

* {
  box-sizing: border-box;
}

html {
  scroll-behavior: smooth;
}

body {
  margin: 0;
  color: var(--ink);
  background: var(--paper);
  font-family: Inter, ui-sans-serif, system-ui, -apple-system, BlinkMacSystemFont, "Segoe UI", sans-serif;
  line-height: 1.55;
}

img,
video {
  display: block;
  max-width: 100%;
}

a {
  color: inherit;
  text-decoration: none;
}

.site-header {
  position: fixed;
  inset: 0 0 auto;
  z-index: 20;
  display: flex;
  align-items: center;
  justify-content: space-between;
  gap: 24px;
  min-height: 64px;
  padding: 12px clamp(18px, 4vw, 54px);
  color: #fff;
  background: rgba(11, 18, 26, 0.72);
  border-bottom: 1px solid rgba(255, 255, 255, 0.18);
  backdrop-filter: blur(14px);
}

.brand {
  display: inline-flex;
  align-items: center;
  gap: 10px;
  font-weight: 750;
  letter-spacing: 0;
}

.brand-mark {
  display: grid;
  place-items: center;
  width: 34px;
  height: 34px;
  color: #0f1a22;
  background: #fff;
  border-radius: 50%;
  font-weight: 850;
}

.site-nav {
  display: flex;
  align-items: center;
  gap: clamp(12px, 2vw, 28px);
  font-size: 0.94rem;
  color: rgba(255, 255, 255, 0.86);
}

.site-nav a {
  padding: 8px 0;
}

.site-nav a:hover {
  color: #fff;
}

.hero {
  position: relative;
  min-height: 88vh;
  display: flex;
  align-items: end;
  overflow: hidden;
  color: #fff;
  background: #10151c;
}

.hero-bg {
  position: absolute;
  inset: 0;
  width: 100%;
  height: 100%;
  object-fit: cover;
  object-position: center;
  filter: saturate(0.96) contrast(1.03);
}

.hero-shade {
  position: absolute;
  inset: 0;
  background:
    linear-gradient(90deg, rgba(6, 13, 20, 0.9), rgba(6, 13, 20, 0.58) 42%, rgba(6, 13, 20, 0.1)),
    linear-gradient(0deg, rgba(8, 12, 18, 0.8), rgba(8, 12, 18, 0.12) 48%);
}

.hero-content {
  position: relative;
  width: min(980px, 100%);
  padding: 0 clamp(22px, 6vw, 76px) clamp(52px, 10vh, 96px);
}

.eyebrow,
.section-kicker,
.result-tag,
.soon-label {
  margin: 0 0 14px;
  color: var(--orange);
  font-size: 0.78rem;
  font-weight: 800;
  letter-spacing: 0.08em;
  text-transform: uppercase;
}

.hero .eyebrow {
  color: #f2c88d;
}

.acronym-letter {
  color: #64d4d2;
  font-size: 2em;
  font-weight: 950;
  line-height: 1;
}

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

h1 {
  width: min(930px, 100%);
  margin-bottom: 22px;
  font-size: clamp(2.35rem, 4.9vw, 4.75rem);
  line-height: 1;
  letter-spacing: 0;
}

h2 {
  margin-bottom: 18px;
  font-size: clamp(2rem, 3.4vw, 4rem);
  line-height: 1.04;
  letter-spacing: 0;
}

h3 {
  margin-bottom: 10px;
  font-size: 1.18rem;
  line-height: 1.22;
  letter-spacing: 0;
}

.author-block {
  width: min(760px, 100%);
  margin-bottom: 22px;
  color: rgba(255, 255, 255, 0.88);
}

.authors {
  margin-bottom: 6px;
  font-size: clamp(1.08rem, 1.5vw, 1.34rem);
  font-weight: 760;
}

.affiliations {
  margin-bottom: 0;
  color: rgba(255, 255, 255, 0.72);
  font-size: 0.98rem;
}

.hero-icons,
.resource-actions {
  display: flex;
  flex-wrap: wrap;
  gap: 12px;
}

.icon-link {
  display: inline-flex;
  align-items: center;
  gap: 9px;
  min-height: 42px;
  padding: 0 13px 0 11px;
  color: #fff;
  border: 1px solid rgba(255, 255, 255, 0.38);
  border-radius: 999px;
  background: rgba(255, 255, 255, 0.12);
  font-size: 0.92rem;
  font-weight: 720;
  backdrop-filter: blur(10px);
}

.icon-link:hover {
  border-color: rgba(255, 255, 255, 0.72);
  background: rgba(255, 255, 255, 0.19);
}

.icon-link.disabled-link {
  cursor: default;
}

.icon-link.disabled-link:hover {
  border-color: rgba(255, 255, 255, 0.38);
  background: rgba(255, 255, 255, 0.12);
}

.icon-link svg {
  width: 22px;
  height: 22px;
  fill: currentColor;
  flex: 0 0 auto;
}

.button {
  display: inline-flex;
  align-items: center;
  justify-content: center;
  min-height: 44px;
  padding: 0 18px;
  border: 1px solid transparent;
  border-radius: 6px;
  font-weight: 750;
}

.button.primary {
  color: #0b151d;
  background: #fff;
}

.button.secondary {
  color: #fff;
  border-color: rgba(255, 255, 255, 0.42);
  background: rgba(255, 255, 255, 0.12);
}

.button.disabled {
  color: var(--muted);
  border-color: var(--line);
  background: #fff;
  cursor: default;
}

.resource-actions .button {
  width: 196px;
}

.section {
  padding: clamp(58px, 8vw, 110px) clamp(18px, 4vw, 54px);
}

.section-inner {
  width: min(1180px, 100%);
  margin: 0 auto;
}

.two-column {
  display: grid;
  grid-template-columns: minmax(0, 0.88fr) minmax(0, 1.12fr);
  gap: clamp(32px, 6vw, 84px);
  align-items: start;
}

.overview-text {
  color: var(--muted);
  font-size: 1.05rem;
}

.abstract-full {
  width: min(980px, 100%);
}

.abstract-full .overview-text {
  color: #3e4652;
  font-size: 1.08rem;
}

.abstract-full .overview-text strong {
  color: var(--blue-deep);
  font-weight: 880;
}

.abstract-full .overview-text p:last-child {
  margin-bottom: 0;
}

.metric-strip {
  width: min(1180px, calc(100% - 36px));
  margin: clamp(34px, 5vw, 64px) auto 0;
  display: grid;
  grid-template-columns: repeat(3, minmax(0, 1fr));
  border: 1px solid var(--line);
  background: var(--panel);
  box-shadow: var(--shadow);
}

.metric-strip > div {
  min-height: 118px;
  padding: 24px;
  border-right: 1px solid var(--line);
}

.metric-strip > div:last-child {
  border-right: 0;
}

.metric-value {
  display: block;
  margin-bottom: 7px;
  color: var(--blue-deep);
  font-size: clamp(1.45rem, 2.4vw, 2.25rem);
  font-weight: 850;
  line-height: 1.08;
}

.metric-label {
  color: var(--muted);
  font-size: 0.96rem;
}

.method-section {
  background: #fff;
}

.figure-grid {
  display: grid;
  gap: 24px;
  margin-top: 36px;
}

.figure-panel {
  margin: 0;
  border: 1px solid var(--line);
  background: #fff;
  box-shadow: var(--shadow);
}

.figure-panel img {
  width: 100%;
  aspect-ratio: 16 / 8.3;
  object-fit: contain;
  background: #fff;
}

.lam-figure img {
  width: min(85%, 1020px);
  margin: 0 auto;
}

.figure-panel figcaption {
  padding: 18px 22px 22px;
  color: var(--muted);
  border-top: 1px solid var(--line);
}

.figure-panel strong {
  color: var(--ink);
}

.method-lead {
  width: 100%;
  color: var(--muted);
  font-size: 1.05rem;
}

.results-section {
  background: linear-gradient(180deg, #f7f8fb, #eef3f7);
}

.tables-stack {
  display: grid;
  gap: 24px;
  margin-top: 34px;
}

.table-card {
  border: 1px solid var(--line);
  border-radius: 8px;
  background: rgba(255, 255, 255, 0.94);
  box-shadow: 0 12px 32px rgba(19, 27, 38, 0.08);
  overflow: hidden;
}

.table-card.wide {
  background: #fff;
}

.real-robot-card .table-note {
  padding: 18px 24px 24px;
  border-top: 1px solid var(--line);
  font-size: 0.98rem;
}

.real-robot-table {
  min-width: 1080px;
  font-size: 0.88rem;
}

.real-robot-table th,
.real-robot-table td {
  padding-left: 9px;
  padding-right: 9px;
}

.real-robot-table .soft-row td {
  background: #f7fbfe;
}

.chart-wrap {
  padding: 22px 24px 26px;
}

.chart-split {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 18px;
  margin-top: 18px;
}

.chart-image {
  width: 100%;
  border: 1px solid #e4eaf1;
  background: #fff;
}

.table-heading {
  display: flex;
  align-items: end;
  justify-content: space-between;
  gap: 24px;
  padding: 22px 24px 14px;
  border-bottom: 1px solid var(--line);
}

.table-heading h3 {
  margin-bottom: 0;
  font-size: 1.05rem;
}

.table-heading .result-tag {
  margin-bottom: 0;
  white-space: nowrap;
}

.table-wrap {
  overflow-x: auto;
}

.paper-table {
  width: 100%;
  min-width: 680px;
  border-collapse: collapse;
  font-size: 0.95rem;
}

.paper-table th,
.paper-table td {
  padding: 11px 14px;
  text-align: center;
  border-bottom: 1px solid #e8edf3;
  white-space: nowrap;
}

.paper-table th {
  color: #2b3440;
  background: #f1f5f9;
  font-size: 0.78rem;
  font-weight: 820;
  letter-spacing: 0.04em;
  text-transform: uppercase;
}

.paper-table td:nth-child(2),
.paper-table th:nth-child(2),
.paper-table tbody td:not(.group-cell):first-child,
.ablation-table td:first-child,
.ablation-table th:first-child {
  text-align: left;
}

.paper-table tbody tr:has(.group-cell) td:nth-child(2),
.paper-table tbody tr:not(:has(.group-cell)) td:first-child {
  text-align: left;
}

.paper-table tbody tr:has(.group-cell) td:nth-child(n + 3),
.paper-table tbody tr:not(:has(.group-cell)) td:nth-child(n + 2) {
  text-align: center;
}

.paper-table tbody tr:hover {
  background: #f9fbfd;
}

.paper-table .section-break td {
  border-top: 2px solid #d7e0ea;
}

.group-cell {
  width: 112px;
  color: var(--blue-deep);
  background: #f8fafc;
  font-weight: 780;
}

.ours-row td {
  background: #edf6fc;
  font-weight: 790;
}

.ours-row td.plain-score {
  color: #1f2933;
  font-weight: 400 !important;
}

.best {
  color: var(--blue-deep);
  font-weight: 880;
}

.second {
  text-decoration: underline;
  text-underline-offset: 3px;
}

.check {
  color: var(--green);
  font-weight: 900;
}

.dash {
  color: #9aa4b2;
}

.paper-table.ablation-table {
  min-width: 760px;
  table-layout: fixed;
}

.ablation-variant-col {
  width: 28%;
}

.ablation-supervision-col {
  width: 13%;
}

.ablation-score-col {
  width: 10%;
}

.paper-table.ablation-table th,
.paper-table.ablation-table td {
  padding-left: 9px;
  padding-right: 9px;
}

.paper-table.ablation-table thead th {
  text-align: center;
  line-height: 1.15;
}

.stacked-head {
  display: inline-flex;
  flex-direction: column;
  gap: 2px;
  align-items: center;
  line-height: 1.05;
}

.paper-table.ablation-table thead tr:nth-child(2) th:nth-child(n + 2):nth-child(-n + 5),
.paper-table.ablation-table tbody td:nth-child(n + 2):nth-child(-n + 5),
.paper-table.ablation-table thead tr:nth-child(2) th:nth-child(6),
.paper-table.ablation-table tbody td:nth-child(6) {
  box-shadow: inset 1px 0 0 rgba(120, 144, 168, 0.18);
}

.paper-table.ablation-table thead .empty-head {
  color: transparent;
}

.paper-table.ablation-table tbody td:first-child {
  text-align: left;
}

.paper-table.ablation-table tbody td:not(:first-child) {
  text-align: center;
}

.table-note {
  margin: 0;
  padding: 12px 24px 18px;
  color: var(--muted);
  font-size: 0.9rem;
  border-top: 1px solid var(--line);
}

.task-table {
  min-width: 780px;
}

.task-table td:first-child,
.task-table th:first-child {
  width: 54px;
  text-align: center;
  color: var(--muted);
}

.task-table tbody tr:nth-child(6n) td {
  border-bottom-color: #d9e2ec;
}

.result-grid,
.video-grid {
  display: grid;
  grid-template-columns: repeat(4, minmax(0, 1fr));
  gap: 18px;
  margin-top: 34px;
}

.result-card,
.video-panel {
  min-height: 260px;
  padding: 22px;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: rgba(255, 255, 255, 0.92);
  box-shadow: 0 10px 28px rgba(19, 27, 38, 0.08);
}

.result-card p,
.video-panel p {
  color: var(--muted);
}

.result-card.highlight {
  border-color: rgba(37, 111, 159, 0.36);
  background: #f4f9fc;
}

.mini-table {
  margin-top: 20px;
  border-top: 1px solid var(--line);
}

.mini-table div,
.score-line {
  display: flex;
  align-items: center;
  justify-content: space-between;
  gap: 16px;
  padding: 12px 0;
  border-bottom: 1px solid var(--line);
}

.score-line strong {
  color: var(--blue-deep);
  font-size: 2.1rem;
}

.placeholder-bar {
  display: grid;
  grid-template-columns: repeat(4, 1fr);
  align-items: end;
  gap: 10px;
  height: 82px;
  margin-top: 22px;
  padding: 12px;
  border: 1px solid var(--line);
  background: #fff;
}

.placeholder-bar span {
  display: block;
  background: var(--green);
}

.placeholder-bar span:nth-child(1) {
  height: 38%;
}

.placeholder-bar span:nth-child(2) {
  height: 55%;
}

.placeholder-bar span:nth-child(3) {
  height: 68%;
}

.placeholder-bar span:nth-child(4) {
  height: 88%;
}

.ratio-row {
  display: grid;
  grid-template-columns: repeat(4, 1fr);
  gap: 8px;
  margin-top: 24px;
}

.ratio-row span {
  display: grid;
  place-items: center;
  height: 48px;
  border: 1px solid var(--line);
  background: #fff;
  color: var(--blue-deep);
  font-weight: 850;
}

.videos-section {
  background: #ffffff;
}

.robocasa-video-grid {
  display: grid;
  grid-template-columns: repeat(6, minmax(0, 1fr));
  gap: 14px;
  margin-top: 34px;
}

.video-subsection {
  margin-top: clamp(44px, 6vw, 76px);
}

.real-video-grid {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 16px;
  margin-top: 22px;
}

.video-tile,
.real-video-tile {
  min-width: 0;
  overflow: hidden;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: #fff;
  box-shadow: 0 8px 22px rgba(19, 27, 38, 0.08);
}

.video-tile video,
.real-video-tile video {
  width: 100%;
  aspect-ratio: 4 / 3;
  object-fit: cover;
  background: #111820;
}

.real-video-tile video {
  aspect-ratio: 16 / 9;
}

.video-tile span,
.real-video-tile span {
  display: block;
  padding: 9px 10px 10px;
  overflow: hidden;
  color: #2f3844;
  font-size: 0.78rem;
  font-weight: 720;
  line-height: 1.2;
  text-overflow: ellipsis;
  white-space: nowrap;
}

.video-grid {
  grid-template-columns: 1.45fr 0.78fr 0.78fr;
}

.primary-video {
  padding: 0;
  overflow: hidden;
}

.primary-video video {
  width: 100%;
  aspect-ratio: 16 / 9;
  object-fit: cover;
  background: #10151c;
}

.primary-video div {
  padding: 22px;
}

.coming-soon {
  display: flex;
  flex-direction: column;
  justify-content: end;
  background:
    linear-gradient(135deg, rgba(37, 111, 159, 0.08), rgba(184, 91, 49, 0.08)),
    #fff;
}

.soon-label {
  color: var(--red);
}

.resources-section {
  background: #10151c;
  color: #fff;
}

.resource-band {
  display: flex;
  align-items: end;
  justify-content: space-between;
  gap: 28px;
}

.resources-section h2 {
  max-width: 780px;
}

.resources-section .button:not(.disabled) {
  color: #0b151d;
  background: #fff;
}

.site-footer {
  display: flex;
  justify-content: space-between;
  gap: 24px;
  padding: 24px clamp(18px, 4vw, 54px);
  color: #d7dde5;
  background: #10151c;
  border-top: 1px solid rgba(255, 255, 255, 0.14);
  font-size: 0.92rem;
}

@media (max-width: 980px) {
  .site-nav {
    display: none;
  }

  .hero {
    min-height: 82vh;
  }

  .two-column,
  .metric-strip,
  .result-grid,
  .video-grid,
  .robocasa-video-grid,
  .resource-band {
    grid-template-columns: 1fr;
  }

  .resource-band {
    display: grid;
  }

  .metric-strip > div {
    border-right: 0;
    border-bottom: 1px solid var(--line);
  }

  .metric-strip > div:last-child {
    border-bottom: 0;
  }

  .table-heading {
    display: block;
  }

  .table-heading .result-tag {
    display: block;
    margin-bottom: 10px;
  }

  .robocasa-video-grid {
    grid-template-columns: repeat(3, minmax(0, 1fr));
  }

  .chart-split {
    grid-template-columns: 1fr;
  }
}

@media (max-width: 620px) {
  .hero-content {
    padding-bottom: 42px;
  }

  .section {
    padding-left: 16px;
    padding-right: 16px;
  }

  h1 {
    font-size: clamp(2rem, 10vw, 2.9rem);
    line-height: 1.03;
  }

  h2 {
    font-size: clamp(1.8rem, 8vw, 2.7rem);
  }

  .hero-icons,
  .resource-actions {
    width: 100%;
  }

  .button,
  .icon-link {
    width: 100%;
  }

  .figure-panel img {
    aspect-ratio: 16 / 10;
  }

  .paper-table {
    min-width: 620px;
    font-size: 0.88rem;
  }

  .paper-table th,
  .paper-table td {
    padding: 10px 11px;
  }

  .robocasa-video-grid {
    grid-template-columns: repeat(2, minmax(0, 1fr));
    gap: 10px;
  }

  .real-video-grid {
    grid-template-columns: repeat(2, minmax(0, 1fr));
  }

  .site-footer {
    flex-direction: column;
  }
}