/*
	PHAI Lab — project-page customizations  (layered ON TOP of Strata main.css)
	Keep your tweaks here so the upstream theme stays pristine.

	========================================================================
	RE-THEME IN ONE PLACE: change --accent (and the matching --accent-rgb).
	(e.g. #254669 PHAI navy, #8C1515 cardinal, #500000 maroon, #1a73e8 blue)
	========================================================================
*/

@import url("https://fonts.googleapis.com/css2?family=Inter:wght@400;500;600;700;800;900&display=swap");

:root {
	--accent:        #254669;   /* PHAI navy (sampled from the lab logo) */
	--accent-rgb:    37, 70, 105; /* keep in sync with --accent (primary-button glow) */
	--accent-strong: #1a3550;   /* darker navy for hovers */
	--accent-soft:   #e9eef4;   /* very light navy tint     */
	--ink:        #1d1d1f;      /* neutral near-black headings */
	--ink-soft:   #3a3a3c;      /* body text            */
	--ink-muted:  #6b6b70;      /* captions / meta — WCAG AA on white & panels */
	--line:       #e8e8ed;      /* hairline dividers    */
	--bg-soft:    #f7f7f8;      /* panels / code blocks */
	--radius:     16px;
	--shadow:     0 10px 30px rgba(22,32,44,.10), 0 2px 6px rgba(22,32,44,.06);
	--shadow-sm:  0 2px 8px rgba(22,32,44,.10);
}

/* ---------- Base typography ---------- */
html, body { background: #fff; }
body, input, select, textarea {
	font-family: 'Inter', -apple-system, BlinkMacSystemFont, 'Segoe UI', Helvetica, Arial, sans-serif;
	color: var(--ink-soft);
	font-size: 16.5px;
	line-height: 1.7;
	letter-spacing: -0.004em;
	-webkit-font-smoothing: antialiased;
	-moz-osx-font-smoothing: grayscale;
}
#main h1, #main h2, #main h3, #main h4 {
	font-family: 'Inter', -apple-system, BlinkMacSystemFont, 'Segoe UI', Helvetica, Arial, sans-serif;
	color: var(--ink);
}
#main p { color: var(--ink-soft); }
#main a { color: var(--accent); border-bottom: none; transition: color .15s ease; }
#main a:hover { color: var(--accent-strong); }

/* ---------- Layout container (also serves as the <main id="main"> landmark) ---------- */
#main {
	width: min(58em, 92%);
	max-width: 1040px;
	margin: 0 auto;
	padding-top: 3.75em;
	padding-bottom: 1.5em;
}

/* Masthead landmark: cancel Strata's `header h2 + p` size/offset so the venue
   line keeps its intended look (its color/margins already win via .venue). */
#main .masthead .venue { font-size: inherit; margin-top: 0; line-height: 1.5; }

/* ---------- Hero: title / subtitle / venue ---------- */
#main .title {
	text-align: center;
	color: var(--accent);
	font-size: clamp(2.25rem, 5vw, 3.5rem);
	font-weight: 800;
	letter-spacing: -0.03em;
	line-height: 1.08;
	margin: 0.1em 0 0.18em;
}
#main .subtitle {
	max-width: 900px;
	margin: 0 auto 1.25em;
	text-align: center;
	color: var(--ink);
	font-size: clamp(1.35rem, 3vw, 1.9rem);
	font-weight: 600;
	letter-spacing: -0.018em;
	line-height: 1.3;
}
#main .venue {
	text-align: center;
	color: var(--accent);
	font-weight: 600;
	letter-spacing: 0.01em;
	margin-bottom: 1.2em;
}

/* ---------- Affiliation logos ---------- */
.logo-row {
	display: flex; flex-wrap: wrap;
	justify-content: center; align-items: center;
	gap: 2.75em;
	margin: 0.25em 0 1.6em;
}
#main .logo-row img {
	height: 52px; width: auto;
	max-width: 300px;          /* guard so a wide collaborator logo can't unbalance the row */
	object-fit: contain;
}
/* Wide wordmark logos read best a touch shorter than icon/crest logos */
#main .logo-row img.wordmark { height: 38px; }

/* ---------- Authors + affiliations ---------- */
.authors {
	max-width: 930px;
	margin: 0 auto 0.8em;
	padding: 0 1em;
	text-align: center;
	font-size: 0.98rem;
	font-weight: 450;
	line-height: 1.8;
	letter-spacing: 0.005em;
	color: var(--ink-muted);
}
#main .authors a, #main .affiliations a { color: var(--ink); }
#main .authors a:hover, #main .affiliations a:hover { color: var(--accent); }
.authors sup { color: var(--accent); font-weight: 600; }
.authors .intern-mark {
	margin-left: 0.08em;
	color: var(--ink-muted);
	font-size: 0.78em;
}
.corresponding-mark {
	display: inline-block;
	margin-left: 0.2em;
	color: var(--accent);
	font-size: 0.82em;
	font-weight: 700;
	vertical-align: super;
	line-height: 1;
}
.affiliations {
	display: flex;
	flex-direction: column;
	align-items: center;
	gap: 0.35em;
	color: var(--ink-muted);
	font-size: 0.8rem;
	line-height: 1.5;
	margin-bottom: 1.4em;
}
.affiliations sup { color: var(--accent); }
.affiliation-line {
	display: flex;
	flex-wrap: nowrap;
	justify-content: center;
	gap: 0.35em;
	max-width: 100%;
}
.affiliation-item {
	display: inline-block;
	padding: 0.22em 0.58em;
	border: 1px solid;
	border-radius: 999px;
	font-weight: 600;
	white-space: nowrap;
}
.affiliation-1 { color: #2c6597; background: #edf6ff; border-color: #b9d9f3; }
.affiliation-2 { color: #5f5a9c; background: #f2f0ff; border-color: #cec9f0; }
.affiliation-3 { color: #3b7b70; background: #edf9f5; border-color: #b9dfd5; }
.affiliation-4 { color: #8a5b36; background: #fff5e9; border-color: #eed1ad; }
.affiliation-5 { color: #8a4b62; background: #fff0f4; border-color: #edc2d0; }
.affiliation-6 { color: #3e6e62; background: #eff8ed; border-color: #c3dfbd; }
.affiliation-7 { color: #6a568e; background: #f7f0ff; border-color: #d9c4ef; }

/* ---------- Link buttons (pill style) ---------- */
.links { text-align: center; margin-bottom: 1.9em; }
.links .button {
	font-family: inherit;
	display: inline-flex; align-items: center; justify-content: center;
	gap: 0.5em;
	min-width: 0;                  /* override Strata's min-width so pills hug content */
	height: auto; line-height: 1;
	margin: 0.32em 0.3em;
	padding: 0.72em 1.25em;
	border-radius: 999px;
	background: var(--ink);
	color: #fff !important;        /* must beat Strata's .button{color:#787878 !important} */
	font-size: 0.92rem;
	font-weight: 600;
	letter-spacing: 0.005em;
	text-transform: none;
	border: 0;
	box-shadow: var(--shadow-sm);
	transition: transform .15s ease, box-shadow .15s ease, background .15s ease;
}
.links .button:hover {
	background: #283341;
	transform: translateY(-2px);
	box-shadow: 0 10px 22px rgba(22,32,44,.22);
}
.links .button:active { transform: translateY(0); }
/* block Strata's teal :hover/:active text color */
.links .button:hover, .links .button:active,
.links .button.special:hover, .links .button.special:active { color: #fff !important; }
.links .button.special { background: var(--accent); box-shadow: 0 4px 14px rgba(var(--accent-rgb), .30); }
.links .button.special:hover { background: var(--accent-strong); }
.links .button.icon { padding-left: 1.25em; }
.links .button.icon:before { margin-right: 0; line-height: 1; font-size: 1.08em; }

/* ---------- Section headings (centered, accent underline; carry the section gap) ---------- */
#main h3 {
	text-align: center;
	font-size: 1.9rem;
	font-weight: 800;
	letter-spacing: -0.015em;
	color: var(--ink);
	margin: 3.25em 0 0.9em;
}
#main h3:after {
	content: "";
	display: block;
	width: 56px; height: 2px;
	margin: 0.55em auto 0;
	background: var(--accent);
	border-radius: 2px;
	opacity: 0.92;
}

/* Optional manual divider (sections no longer emit <hr>, but it stays available) */
#main hr { border: 0; height: 1px; background: var(--line); margin: 3.25em 0; }

/* ---------- Media: rounded + soft shadow ---------- */
#main img, #main video, #main iframe { max-width: 100%; }
#main img, #main video { height: auto; }
.teaser { display: block; margin: 0.6em 0 1.4em; }
.teaser img, .teaser video,
span.image img,
.image.fit img {
	border-radius: var(--radius);
	box-shadow: var(--shadow);
}
/* Let pointer events through Strata's transparent .image overlay so the
   hover-lift fires; match the corner radius if the overlay is ever enabled. */
#main span.image:before, #main .image.fit:before { pointer-events: none; border-radius: var(--radius); }
.team .image:before { pointer-events: none; }
.media-caption {
	text-align: center;
	color: var(--ink-muted);
	font-size: 0.95rem;
	margin-top: 0.55em;
	margin-bottom: 0.4em;
}

/* Responsive 16:9 video wrapper (YouTube/Vimeo) */
.video-embed {
	position: relative;
	width: 100%;
	padding-bottom: 56.25%;
	height: 0;
	margin-bottom: 0.6em;
	border-radius: var(--radius);
	overflow: hidden;
	background: linear-gradient(135deg, #eef2f7, #e3e9f1);
	box-shadow: var(--shadow);
}
.video-embed iframe { position: absolute; inset: 0; width: 100%; height: 100%; border: 0; }

/* ---------- Result / media grid ---------- */
.box.alt { border: 0; padding: 0; }
.box.alt .image.fit img { box-shadow: var(--shadow-sm); }

/* Subtle hover lift on grid + team tiles */
.box.alt .image.fit img,
.team .image img {
	transition: transform .18s ease, box-shadow .18s ease;
}
.box.alt .image.fit img:hover,
.team .image img:hover {
	transform: translateY(-3px);
	box-shadow: var(--shadow);
}

/* ---------- Side-by-side comparison (Ours vs Baseline) ---------- */
.compare { display: grid; grid-template-columns: 1fr 1fr; gap: 1.1em; margin: 1em 0; }
.compare .col { position: relative; }
.compare .col-label {
	position: absolute; top: .6em; left: .6em; z-index: 2;
	background: var(--ink); color: #fff; font-size: .78rem; font-weight: 700;
	padding: .22em .6em; border-radius: 999px; letter-spacing: .01em;
}
.compare .col.ours .col-label { background: var(--accent); }
.compare .speed-badge {
	position: absolute; bottom: .6em; right: .6em; z-index: 2;
	background: rgba(0,0,0,.62); color: #fff; font-size: .72rem; font-weight: 700;
	padding: .18em .5em; border-radius: 6px;
}
.compare video, .compare img {
	width: 100%; height: auto; display: block;
	border-radius: var(--radius); box-shadow: var(--shadow-sm);
}

/* ---------- Results table (benchmark) ---------- */
.table-wrap {
	margin: 1.4em 0;
	border-radius: var(--radius);
	box-shadow: var(--shadow-sm);
	overflow-x: auto;
	-webkit-overflow-scrolling: touch;
}
.results-table { width: 100%; border-collapse: collapse; font-size: 0.95rem; margin: 0; }
.results-table th, .results-table td {
	padding: 0.7em 1em; text-align: center; white-space: nowrap;
	border-bottom: 1px solid var(--line);
}
.results-table thead th { background: var(--accent); color: #fff; font-weight: 700; }
.results-table thead th:first-child { color: #fff; }
.results-table tbody tr:nth-child(even) { background: var(--bg-soft); }
.results-table tbody tr:last-child td { border-bottom: 0; }
.results-table td:first-child, .results-table th:first-child { text-align: left; font-weight: 600; color: var(--ink); }
.results-table .best { font-weight: 800; color: var(--accent); }

/* ---------- Team (circular photos) ---------- */
.team .image img {
	border-radius: 50%;
	box-shadow: var(--shadow-sm);
	aspect-ratio: 1 / 1;
	object-fit: cover;
}
.team a { color: var(--ink); font-weight: 600; }
.team a:hover { color: var(--accent); }

/* ---------- BibTeX ---------- */
#main pre {
	background: var(--bg-soft);
	border: 1px solid var(--line);
	border-radius: var(--radius);
	padding: 1.25em 1.4em;
	box-shadow: none;
	overflow-x: auto;
	-webkit-overflow-scrolling: touch;
}
#main pre code {
	display: block;
	padding: 0;
	overflow-x: visible;
	font-family: 'SF Mono', 'JetBrains Mono', Menlo, Consolas, monospace;
	font-size: 0.86rem;
	line-height: 1.6;
	color: var(--ink-soft);
}
#main p code, #main li code {
	background: var(--accent-soft);
	color: var(--accent-strong);
	border-radius: 6px;
	padding: 0.1em 0.4em;
	font-size: 0.88em;
}

/* ---------- Footer ---------- */
#page-footer {
	text-align: center;
	color: var(--ink-muted);
	font-size: 0.9rem;
	border-top: 1px solid var(--line);
	margin-top: 3em;
	padding-top: 1.5em;
}
#page-footer a { color: var(--accent); }

/* ---------- Keyboard focus (WCAG 2.4.7) ---------- */
#main a:focus-visible,
.team a:focus-visible { outline: 3px solid var(--accent); outline-offset: 3px; border-radius: 6px; }
.links .button:focus-visible { outline: 3px solid var(--accent); outline-offset: 3px; border-radius: 999px; }
/* Fallback for browsers without :focus-visible */
#main a:focus, .links .button:focus { outline: 2px solid var(--accent); outline-offset: 2px; }

/* ---------- Small screens ---------- */
@media (max-width: 736px) {
	.logo-row { gap: 1.5em; }
	#main .logo-row img { height: 42px; }

	/* Buttons: clean full-width vertical stack with even gutters */
	.links { display: flex; flex-direction: column; align-items: stretch; }
	.links .button { width: 100%; margin: 0.45em 0; justify-content: center; }

	/* Tighten section headers for the narrow measure */
	#main h3 { font-size: 1.45rem; margin: 2.4em 0 0.7em; }
	#main h3:after { width: 40px; }

	/* Strata's plain .4u/.3u columns never reflow — force readable layouts.
	   Results (3 tiles) stack 1-up; Team (4 tiles) goes 2-up. */
	.box.alt .row { margin-left: 0; }
	.box.alt .row > * { padding-left: 0; width: 100%; }
	.team .box.alt .row { margin-left: -1.25em; }
	.team .box.alt .row > * { padding-left: 1.25em; width: 50%; }
	.team .box.alt .row > *:nth-child(n+3) { margin-top: 1.5em; }

	/* Comparison stacks on phones */
	.compare { grid-template-columns: 1fr; }

	/* BibTeX tighter on phones */
	#main pre { padding: 0.9em 1em; }
	#main pre code { font-size: 0.8rem; }
}

/* ---------- Respect OS "reduce motion" preference (WCAG 2.3.3) ---------- */
@media (prefers-reduced-motion: reduce) {
	*, *::before, *::after {
		animation-duration: 0.001ms !important;
		animation-iteration-count: 1 !important;
		transition-duration: 0.001ms !important;
		scroll-behavior: auto !important;
	}
	.links .button:hover,
	.box.alt .image.fit img:hover,
	.team .image img:hover { transform: none; }
}

/* ---------- EMERGE-Policy paper page ---------- */
.institution-logos {
	gap: 1.6em;
	margin: 1.3em 0 1.5em;
}
.institution-logos img {
	height: 62px !important;
	width: 62px !important;
	max-width: 62px !important;
	object-fit: contain;
}
.title-lockup {
	display: flex;
	align-items: center;
	justify-content: center;
	gap: 1.05em;
	margin: 0 auto 0.55em;
}
.hero-mark {
	display: flex;
	align-items: center;
	justify-content: center;
	flex: 0 0 auto;
}
.hero-mark img {
	width: 112px;
	height: 112px !important;
	object-fit: contain;
	border-radius: 24px;
	box-shadow: 0 8px 22px rgba(var(--accent-rgb), .13);
}
.title-lockup .title {
	margin: 0;
	text-align: left;
	font-size: clamp(2.7rem, 6vw, 4.6rem);
	letter-spacing: -0.045em;
}
.contribution {
	text-align: center;
	color: var(--ink-muted) !important;
	font-size: 0.98rem;
	margin: -0.65em 0 0;
}
.contribution sup { color: var(--accent); font-weight: 700; }
.contribution .legend-mark {
	margin-left: 0;
	vertical-align: baseline;
	font-size: 0.95em;
}
.contribution .intern-mark {
	margin-left: 0;
	vertical-align: baseline;
}
.paper-nav {
	position: -webkit-sticky;
	position: sticky;
	top: 0;
	z-index: 20;
	align-self: flex-start;
	width: 100%;
	display: flex;
	flex-wrap: wrap;
	justify-content: center;
	gap: 0.35em 1.25em;
	margin: 0.5em 0 2.6em;
	padding: 0.85em 1em;
	border-top: 1px solid var(--line);
	border-bottom: 1px solid var(--line);
	background: rgba(255, 255, 255, 0.94);
	box-shadow: 0 4px 14px rgba(22, 32, 44, 0.06);
	backdrop-filter: blur(10px);
	-webkit-backdrop-filter: blur(10px);
	color: var(--ink-muted);
	font-size: 0.86rem;
}
.paper-nav a {
	position: relative;
	display: inline-block;
	min-width: 0;
	padding: 0.25em 1em;
	border: 0;
	border-left: 1px solid var(--line);
	border-radius: 0;
	background: transparent;
	color: var(--ink-muted) !important;
	font-weight: 600;
	line-height: 1.2;
	box-shadow: none;
	transition: color .15s ease;
}
.paper-nav a:first-child { border-left: 0; }
.paper-nav a:after {
	content: "";
	position: absolute;
	right: 1em;
	bottom: 0;
	left: 1em;
	height: 2px;
	background: var(--accent);
	transform: scaleX(0);
	transform-origin: center;
	transition: transform .15s ease;
}
.paper-nav a:hover {
	color: var(--accent) !important;
	background: transparent !important;
	border-color: var(--line);
}
.paper-nav a:hover:after {
	transform: scaleX(1);
}
.paper-nav a.is-active {
	margin-left: .2em;
	margin-right: .2em;
	padding-right: 1.35em;
	padding-left: 1.35em;
	border-left-color: transparent;
	border-radius: 8px;
	background: var(--accent-soft);
	color: var(--accent) !important;
	font-weight: 800;
	box-shadow: 0 3px 10px rgba(var(--accent-rgb), .1);
}
.paper-nav a.is-active:hover {
	background: var(--accent-soft) !important;
}
.paper-nav a.is-active:after {
	right: 1.35em;
	left: 1.35em;
	transform: scaleX(1);
}
.paper-section {
	scroll-margin-top: 1.5em;
}
.paper-section > p,
.paper-section > ul,
.paper-section > ol {
	max-width: 78ch;
	margin-left: auto;
	margin-right: auto;
}
.paper-section p { line-height: 1.78; }
.paper-section .lead {
	font-size: 1.08rem;
	color: var(--ink) !important;
}
.paper-figure {
	margin: 1.6em auto 2.25em;
	text-align: center;
}
.paper-figure img {
	display: block;
	width: 100%;
	height: auto;
	margin: 0 auto;
	border-radius: var(--radius);
	box-shadow: var(--shadow);
}
.paper-figure figcaption {
	max-width: 100%;
	margin: 0.75em auto 0;
	color: var(--ink-muted);
	font-size: 0.9rem;
	line-height: 1.55;
	text-wrap: balance;
}
.teaser { margin-top: 0.4em; }
.teaser img { background: #f8fbff; }
.compact-figure { max-width: 900px; }
.api-figure img { width: 65%; }
.insight-grid,
.feature-grid {
	display: grid;
	grid-template-columns: repeat(3, 1fr);
	gap: 1em;
	margin: 1.6em 0 2em;
}
.insight-card,
.feature-card {
	padding: 1.35em;
	border: 1px solid var(--line);
	border-radius: var(--radius);
	background: linear-gradient(145deg, #fff, #f7faff);
	box-shadow: var(--shadow-sm);
}
.insight-card h4,
.feature-card h4 {
	margin: 0.25em 0 0.45em;
	color: var(--ink);
	font-size: 1.12rem;
	font-weight: 800;
}
.insight-card p,
.feature-card p {
	margin-bottom: 0;
	font-size: 0.93rem;
	line-height: 1.6;
}
.insight-number {
	color: var(--accent);
	font-size: 0.78rem;
	font-weight: 800;
	letter-spacing: 0.1em;
}
.feature-icon {
	display: inline-flex;
	align-items: center;
	justify-content: center;
	width: 2em;
	height: 2em;
	border-radius: 50%;
	background: var(--accent-soft);
	color: var(--accent);
	font-size: 1.45rem;
	font-weight: 800;
}
.feature-card ul {
	margin: 0.9em 0 0;
	padding-left: 1.1em;
	color: var(--ink-muted);
	font-size: 0.86rem;
	line-height: 1.6;
}
.subsection-title {
	margin: 2.1em 0 0.7em !important;
	color: var(--accent) !important;
	font-size: 1.25rem !important;
	font-weight: 800 !important;
}
.subsection-title:after { display: none !important; }
.metric-grid {
	display: grid;
	grid-template-columns: repeat(5, 1fr);
	gap: 0.75em;
	margin: 1.7em 0 2.2em;
}
.metric {
	padding: 1.1em 0.55em;
	border-radius: var(--radius);
	background: var(--accent);
	color: #fff;
	text-align: center;
	box-shadow: var(--shadow-sm);
}
.metric strong {
	display: block;
	color: #fff;
	font-size: clamp(1.35rem, 3vw, 2rem);
	font-weight: 800;
	line-height: 1.15;
}
.metric span {
	display: block;
	margin-top: 0.5em;
	color: rgba(255,255,255,.86);
	font-size: 0.72rem;
	line-height: 1.35;
}
.results-table { min-width: 700px; }
.results-table .highlight-row td { background: #eef5fb; }
.results-table .highlight-row td:first-child { color: var(--accent); }
.results-table .table-group th {
	padding-top: 0.9em;
	padding-bottom: 0.55em;
	background: var(--accent-soft);
	color: var(--accent);
	font-size: 0.84rem;
	font-weight: 800;
	text-align: left;
}
.results-table .delta {
	display: inline-block;
	margin-left: 0.18em;
	font-size: 0.72em;
	font-weight: 800;
	white-space: nowrap;
}
.results-table .delta.positive { color: #b14e4e; }
.results-table .delta.negative { color: #4d8a68; }
.robot-results {
	display: grid;
	grid-template-columns: 1fr 1fr;
	gap: 1.2em;
	align-items: start;
}
.robot-results .paper-figure { margin-top: 0.6em; }
.robot-results .paper-figure img { box-shadow: var(--shadow-sm); }
.disturbance-list {
	display: grid;
	grid-template-columns: repeat(4, 1fr);
	gap: 0.6em;
	margin: 0.8em 0 1.5em;
}
.disturbance-list span {
	padding: 0.7em 0.5em;
	border: 1px solid var(--line);
	border-radius: 10px;
	background: var(--bg-soft);
	color: var(--ink-muted);
	font-size: 0.78rem;
	line-height: 1.35;
	text-align: center;
}
.disturbance-list strong {
	display: block;
	color: var(--accent);
	font-size: 1.3rem;
}
.robodojo-video-grid {
	display: grid;
	grid-template-columns: repeat(4, minmax(0, 1fr));
	gap: 0.8em;
	margin: 1.2em 0 3.8em;
}
.libero-video-grid {
	display: grid;
	grid-template-columns: repeat(4, minmax(0, 1fr));
	gap: 0.8em;
	margin: 1.2em 0 2.8em;
}
.robodojo-clip {
	min-width: 0;
	margin: 0;
}
.robodojo-clip video {
	display: block;
	width: 100%;
	aspect-ratio: 16 / 9;
	object-fit: cover;
	border: 1px solid rgba(91, 154, 211, .24);
	border-radius: 10px;
	background: #eaf2fa;
	box-shadow: 0 6px 16px rgba(52, 105, 157, .11);
	transition: transform .45s cubic-bezier(.22, 1, .36, 1), box-shadow .45s cubic-bezier(.22, 1, .36, 1);
}
.robodojo-clip figcaption {
	margin-top: 0.45em;
	color: var(--ink-muted);
	font-size: 0.75rem;
	line-height: 1.3;
	text-align: center;
}
.conclusion {
	padding: 1.5em 1.5em 0.2em;
	border-radius: var(--radius);
	background: linear-gradient(145deg, #f3f8fd, #fff);
}
.footer-note { color: var(--ink-muted) !important; font-size: 0.8rem; }

@media (max-width: 736px) {
	.institution-logos { gap: 0.9em; }
	.institution-logos img { height: 46px !important; width: 46px !important; }
	.title-lockup { gap: 0.65em; }
	.hero-mark img { width: 72px; height: 72px !important; border-radius: 18px; }
	.title-lockup .title { font-size: clamp(2rem, 10vw, 3rem); }
	.affiliation-line {
		flex-wrap: wrap;
	}
	.affiliation-item { white-space: normal; }
	.api-figure img { width: 100%; }
	.paper-nav { gap: 0.25em 0.8em; font-size: 0.78rem; }
	.insight-grid,
	.feature-grid,
	.robot-results { grid-template-columns: 1fr; }
	.metric-grid { grid-template-columns: repeat(2, 1fr); }
	.metric:last-child { grid-column: 1 / -1; }
	.disturbance-list { grid-template-columns: repeat(2, 1fr); }
	.robodojo-video-grid { grid-template-columns: repeat(2, minmax(0, 1fr)); }
	.libero-video-grid { grid-template-columns: repeat(2, minmax(0, 1fr)); }
	.conclusion { padding: 1em 1em 0.1em; }
}

/* ---------- Light technical blueprint background ---------- */
html, body {
	background: #f8fbff;
}
body {
	position: relative;
	isolation: isolate;
	background:
		radial-gradient(circle at 50% -12%, rgba(109, 157, 231, .14), transparent 34rem),
		linear-gradient(180deg, #fbfdff 0%, #f6f9fc 52%, #fbfdff 100%);
}
body::before {
	content: "";
	position: fixed;
	inset: 0;
	z-index: 0;
	pointer-events: none;
	opacity: .42;
	background-image:
		radial-gradient(rgba(37, 70, 105, .13) 1px, transparent 1px),
		linear-gradient(rgba(85, 137, 190, .045) 1px, transparent 1px),
		linear-gradient(90deg, rgba(85, 137, 190, .045) 1px, transparent 1px);
	background-size: 26px 26px, 52px 52px, 52px 52px;
	mask-image: linear-gradient(to bottom, #000 0%, rgba(0, 0, 0, .55) 48%, transparent 92%);
	-webkit-mask-image: linear-gradient(to bottom, #000 0%, rgba(0, 0, 0, .55) 48%, transparent 92%);
}
body::after {
	content: "";
	position: fixed;
	top: -18rem;
	left: 50%;
	z-index: 0;
	width: min(58rem, 90vw);
	height: min(42rem, 72vw);
	pointer-events: none;
	transform: translateX(-50%);
	background: radial-gradient(ellipse, rgba(101, 161, 235, .19) 0%, rgba(151, 119, 226, .11) 34%, transparent 70%);
	filter: blur(24px);
	opacity: .72;
	animation: emerge-aurora 18s ease-in-out infinite alternate;
}
#main {
	position: relative;
	z-index: 1;
}
.masthead {
	position: relative;
	overflow: hidden;
	padding: 1.6em 1.6em 1.15em;
	border: 1px solid rgba(130, 169, 207, .28);
	border-radius: 24px;
	background: rgba(255, 255, 255, .68);
	box-shadow: 0 18px 46px rgba(60, 103, 146, .08);
	backdrop-filter: blur(8px);
	-webkit-backdrop-filter: blur(8px);
}
.masthead::before {
	content: "";
	position: absolute;
	top: -12rem;
	right: -8rem;
	width: 28rem;
	height: 28rem;
	pointer-events: none;
	background: radial-gradient(circle, rgba(139, 116, 226, .13), transparent 68%);
}
.hero-clips {
	display: grid;
	grid-template-columns: repeat(3, minmax(0, 1fr));
	gap: 0.7em;
	margin: 1.1em auto 3.8em;
}
#main .video-section-title {
	display: flex;
	align-items: center;
	gap: 0.7em;
	margin: 3.5em 0 1em;
	font-size: 1.45rem;
	letter-spacing: -0.01em;
	text-align: left;
}
#main > .video-section-title:first-of-type {
	margin-top: 1.35em;
}
#main .video-section-title:before {
	content: "";
	flex: 0 0 11px;
	width: 11px;
	height: 11px;
	border-radius: 50%;
	background: var(--accent);
	box-shadow: 0 0 0 5px rgba(var(--accent-rgb), .12), 0 0 15px rgba(var(--accent-rgb), .25);
	transition: transform .45s cubic-bezier(.22, 1, .36, 1), box-shadow .45s ease;
}
#main .video-section-title:after {
	flex: 1;
	width: auto;
	height: 3px;
	margin: 0;
	border-radius: 999px;
	background: linear-gradient(90deg, rgba(var(--accent-rgb), .48), rgba(var(--accent-rgb), .08) 72%, transparent);
	opacity: 1;
}
#main .video-section-title:hover:before {
	transform: translateX(6px);
	box-shadow: 0 0 0 6px rgba(var(--accent-rgb), .14), 0 0 20px rgba(var(--accent-rgb), .32);
}
.hero-clip {
	min-width: 0;
	margin: 0;
}
.hero-clip:first-child {
	grid-column: 1 / -1;
}
.hero-compare {
	display: grid;
	grid-template-columns: repeat(2, minmax(0, 1fr));
	gap: 0.7em;
}
.hero-compare-item {
	position: relative;
	min-width: 0;
}
.tui-hero {
	grid-template-columns: minmax(0, 1fr);
}
.tui-hero .hero-clip video {
	aspect-ratio: 2128 / 1276;
	object-fit: contain;
	object-position: center top;
	background: #1a1d24;
}
.hero-clip video {
	display: block;
	width: 100%;
	aspect-ratio: 16 / 9;
	object-fit: cover;
	border: 1px solid rgba(91, 154, 211, .24);
	border-radius: 11px;
	background: #eaf2fa;
	box-shadow: 0 8px 18px rgba(52, 105, 157, .12);
	transition: transform .45s cubic-bezier(.22, 1, .36, 1), box-shadow .45s cubic-bezier(.22, 1, .36, 1);
}
.hero-clip video:hover,
.robodojo-clip video:hover {
	transform: translateY(-4px) scale(1.01);
	box-shadow: 0 13px 25px rgba(52, 105, 157, .2);
}
.clip-label {
	margin: 0.4em 0 0;
	color: var(--ink-muted) !important;
	font-size: 0.72rem;
	font-weight: 600;
	line-height: 1.3;
	text-align: center;
}
.paper-section {
	margin: 2.4em 0;
	padding: 1.55em 1.7em .55em;
	border: 1px solid rgba(135, 174, 211, .25);
	border-radius: 22px;
	background: rgba(255, 255, 255, .63);
	box-shadow: 0 12px 34px rgba(60, 103, 146, .055);
	backdrop-filter: blur(7px);
	-webkit-backdrop-filter: blur(7px);
}
.paper-section > h3 {
	margin-top: .35em;
}
.paper-figure img {
	border: 1px solid rgba(91, 154, 211, .28);
	box-shadow: 0 14px 34px rgba(52, 105, 157, .14);
}
.teaser img {
	border-color: rgba(91, 154, 211, .36);
}
.paper-nav {
	border-color: rgba(135, 174, 211, .32);
	background: rgba(255, 255, 255, .82);
	box-shadow: 0 8px 24px rgba(60, 103, 146, .08);
}
@keyframes emerge-aurora {
	0% {
		transform: translateX(-52%) translateY(-1.5rem) scale(1);
	}
	100% {
		transform: translateX(-48%) translateY(1rem) scale(1.06);
	}
}
@media (max-width: 736px) {
	.masthead {
		padding: 1.1em .9em .8em;
		border-radius: 18px;
	}
	.hero-clips {
		grid-template-columns: repeat(2, minmax(0, 1fr));
		gap: 0.65em;
	}
	.hero-clip:first-child {
		grid-column: 1 / -1;
	}
	.hero-compare {
		grid-template-columns: 1fr;
	}
	.paper-section {
		padding: 1em .9em .25em;
		border-radius: 17px;
	}
}
@media (prefers-reduced-motion: reduce) {
	body::after { animation: none; }
}

/* Keep the framed hero, while leaving the rest of the page border-free. */
.paper-nav {
	border-top: 0;
	border-bottom: 0;
}
.paper-section {
	padding: 0;
	border: 0;
	border-radius: 0;
	background: transparent;
	box-shadow: none;
	backdrop-filter: none;
	-webkit-backdrop-filter: none;
}
.paper-figure img,
.teaser img {
	border: 0;
}
.conclusion {
	padding: 0;
	border-radius: 0;
	background: transparent;
}