:root {
  --blue: #2563eb;
  --blue-dark: #1d4ed8;
  --blue-soft: #eef4ff;
  --text: #1f2937;
  --muted: #687386;
  --line: #dfe4ea;
  --soft: #f7f9fc;
  --max-width: 1000px;
}

* {
  box-sizing: border-box;
}

html {
  scroll-behavior: smooth;
}

body {
  margin: 0;
  color: var(--text);
  background: #fff;
  font-family: "Segoe UI", -apple-system, BlinkMacSystemFont, Arial, sans-serif;
  font-size: 16px;
  line-height: 1.65;
  letter-spacing: 0;
  -webkit-font-smoothing: antialiased;
}

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

.container {
  width: min(calc(100% - 40px), var(--max-width));
  margin: 0 auto;
}

.wide-container {
  width: min(calc(100% - 40px), 1280px);
}

.teaser-figure-container {
  width: min(calc(100% - 40px), 784px);
}

.method-container {
  width: min(calc(100% - 40px), 1280px);
  margin-right: auto;
  margin-left: auto;
}

.method-container figure,
.method-container .figure {
  margin-right: auto;
  margin-left: auto;
}

.full-figure-container {
  width: min(calc(100% - 32px), 1240px);
}

.center {
  text-align: center;
}

.publication-header {
  padding: 68px 0 30px;
}

.header-container {
  max-width: 980px;
  text-align: center;
}

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

h1 {
  margin-bottom: 14px;
  font-size: 42px;
  line-height: 1.19;
  font-weight: 760;
}

h1 span {
  color: var(--blue);
  font-weight: 850;
}

h2 {
  margin-bottom: 24px;
  font-size: 31px;
  line-height: 1.25;
}

h3 {
  margin-bottom: 0;
  font-size: 21px;
  line-height: 1.25;
}

.paper-summary {
  margin-bottom: 24px;
  color: var(--muted);
  font-size: 15px;
  font-weight: 600;
}

.project-links {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 10px;
}

.project-button {
  width: 190px;
  min-height: 64px;
  display: inline-flex;
  flex-direction: column;
  align-items: center;
  justify-content: center;
  gap: 4px;
  padding: 10px 18px;
  color: #fff;
  background: #26303d;
  border: 1px solid #26303d;
  border-radius: 7px;
  font-size: 17px;
  font-weight: 700;
  line-height: 1.15;
  text-align: center;
  text-decoration: none;
  transition: background 160ms ease, border-color 160ms ease, transform 160ms ease;
}

.project-button:hover,
.project-button:focus-visible {
  background: var(--blue);
  border-color: var(--blue);
  transform: translateY(-1px);
}

.project-button small {
  color: rgba(255, 255, 255, 0.64);
  font-size: 12px;
  font-weight: 650;
  line-height: 1.2;
}

.project-button.is-disabled {
  cursor: default;
}

.teaser-section {
  padding: 18px 0 50px;
}

.teaser-figure-section {
  padding-top: 54px;
  padding-bottom: 54px;
  background: var(--soft);
  border-top: 1px solid var(--line);
  border-bottom: 1px solid var(--line);
}

video,
.figure {
  width: 100%;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: #fff;
  box-shadow: 0 10px 30px rgba(31, 41, 55, 0.08);
}

.figure {
  height: auto;
  object-fit: contain;
}

video {
  aspect-ratio: 16 / 9;
  background: #000;
}

.caption,
figcaption,
.table-caption {
  color: #4b5563;
  font-size: 14px;
  line-height: 1.55;
}

.teaser-figure {
  box-shadow: none;
}

.caption {
  margin: 12px auto 0;
}

.section {
  padding: 64px 0;
}

.prose {
  max-width: 820px;
  text-align: justify;
}

.prose h2,
.section-heading {
  text-align: center;
}

.prose p {
  margin-bottom: 18px;
}

.soft-section,
.experiments-section {
  background: var(--soft);
  border-top: 1px solid var(--line);
  border-bottom: 1px solid var(--line);
}

.section-heading {
  max-width: 760px;
  margin: 0 auto 34px;
}

.section-heading h2 {
  margin-bottom: 12px;
}

.section-intro {
  margin: 0;
  color: var(--muted);
}

figure {
  margin: 0;
}

figcaption {
  max-width: 900px;
  margin: 13px auto 0;
}

.experiments-section {
  padding-top: 72px;
  padding-bottom: 72px;
  background: #f5f7fb;
}

.table-panel {
  width: fit-content;
  max-width: 100%;
  margin-top: 28px;
  margin-right: auto;
  margin-left: auto;
  overflow: hidden;
  background: #fff;
  border: 1px solid var(--line);
  border-radius: 8px;
  box-shadow: 0 5px 18px rgba(31, 41, 55, 0.055);
}

.panel-libero-plus,
.panel-robotwin {
  width: 100%;
}

.panel-ablation {
  width: min(100%, 1000px);
}

.table-title-row {
  display: flex;
  align-items: flex-end;
  justify-content: space-between;
  gap: 24px;
  padding: 20px 22px 17px;
  border-bottom: 1px solid var(--line);
}

.table-title-row > span {
  color: var(--muted);
  font-size: 13px;
  font-weight: 650;
}

.table-scroll {
  max-width: 100%;
  overflow-x: auto;
  scrollbar-color: #a9b4c4 #eef1f5;
}

.data-table {
  width: auto;
  margin: 0 auto;
  border-collapse: collapse;
  table-layout: fixed;
  font-size: 15px;
  line-height: 1.35;
  font-variant-numeric: tabular-nums;
}

.table-wide {
  width: 1100px;
}

.table-robotwin {
  width: 1180px;
}

.table-ablation {
  width: 920px;
}

.data-table th,
.data-table td {
  padding: 10px 11px;
  text-align: center;
  white-space: nowrap;
  border-right: 1px solid #edf0f4;
  border-bottom: 1px solid #edf0f4;
}

.data-table th:last-child,
.data-table td:last-child {
  border-right: 0;
}

.data-table thead th {
  color: #344054;
  background: #f0f3f7;
  font-weight: 750;
  white-space: normal;
}

.data-table th:first-child,
.data-table td:first-child {
  position: sticky;
  left: 0;
  z-index: 1;
  width: 210px;
  text-align: left;
  background: #fff;
  box-shadow: 1px 0 0 #e5e9ef;
}

.data-table thead th:first-child {
  z-index: 3;
  background: #f0f3f7;
}

.data-table .group-row th {
  position: static;
  padding: 9px 11px 7px;
  color: #596273;
  background: #fff;
  box-shadow: none;
  font-size: 15px;
  font-style: italic;
  font-weight: 600;
  text-align: left;
}

.data-table .ours td {
  background: #f1f6ff;
}

.data-table .ours td:first-child {
  color: var(--blue-dark);
  background: #e8f0ff;
  font-weight: 650;
}

.data-table strong {
  color: #111827;
  font-weight: 800;
}

.table-caption {
  margin: 0;
  padding: 13px 22px 16px;
  border-top: 1px solid var(--line);
  font-size: 14px;
}

.real-world-section {
  padding-top: 72px;
  padding-bottom: 76px;
}

.real-world-figure {
  width: 100%;
  height: auto;
  object-fit: contain;
  box-shadow: none;
}

footer {
  padding: 30px 0;
  color: #8a93a3;
  background: #fafbfc;
  border-top: 1px solid var(--line);
  font-size: 12px;
}

.footer-content {
  display: flex;
  justify-content: center;
  gap: 24px;
}

.footer-content p {
  margin: 0;
}

:focus-visible {
  outline: 3px solid #f2c94c;
  outline-offset: 3px;
}

@media (max-width: 700px) {
  .container,
  .wide-container,
  .teaser-figure-container,
  .method-container,
  .full-figure-container {
    width: min(calc(100% - 28px), var(--max-width));
  }

  .publication-header {
    padding-top: 46px;
  }

  h1 {
    font-size: 31px;
  }

  h2 {
    font-size: 27px;
  }

  .paper-summary {
    font-size: 13px;
  }

  .project-button {
    width: min(100%, 210px);
  }

  .section,
  .experiments-section,
  .real-world-section {
    padding-top: 48px;
    padding-bottom: 48px;
  }

  .prose {
    text-align: left;
  }

  .table-title-row {
    align-items: flex-start;
    padding: 17px 16px 14px;
  }

  .table-title-row > span {
    max-width: 120px;
    text-align: right;
  }

  .table-caption {
    padding-right: 16px;
    padding-left: 16px;
  }

  .footer-content {
    flex-direction: column;
    gap: 6px;
  }
}

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

  * {
    transition: none !important;
  }
}