@font-face {
  font-family: "Pretendard Variable";
  src: url("assets/PretendardVariable.woff2") format("woff2-variations");
  font-weight: 45 920;
  font-style: normal;
  font-display: swap;
}

:root {
  --bg: #050508;
  --bg-2: #0a0a0f;
  --surface: rgba(18, 18, 26, 0.78);
  --surface-2: rgba(24, 24, 34, 0.9);
  --surface-solid: #12121a;
  --line: rgba(148, 163, 184, 0.18);
  --line-2: rgba(255, 255, 255, 0.08);
  --text: #f8fafc;
  --text-2: #b9c2cf;
  --muted: #778397;
  --purple: #a855f7;
  --pink: #ec4899;
  --cyan: #22d3ee;
  --sky: #67e8f9;
  --green: #34d399;
  --amber: #f6b84b;
  --radius: 10px;
  --container: 1120px;
  --shadow: 0 26px 88px rgba(0, 0, 0, 0.42);
}

* {
  box-sizing: border-box;
}

html {
  scroll-behavior: smooth;
}

body {
  margin: 0;
  min-width: 320px;
  background:
    linear-gradient(rgba(103, 232, 249, 0.034) 1px, transparent 1px),
    linear-gradient(90deg, rgba(168, 85, 247, 0.034) 1px, transparent 1px),
    linear-gradient(150deg, rgba(168, 85, 247, 0.16), transparent 24rem),
    linear-gradient(25deg, rgba(34, 211, 238, 0.1), transparent 26rem),
    var(--bg);
  background-size: 56px 56px, 56px 56px, auto, auto, auto;
  color: var(--text);
  font-family: "Pretendard Variable", Inter, system-ui, -apple-system, BlinkMacSystemFont, "Segoe UI", sans-serif;
  line-height: 1.55;
  -webkit-font-smoothing: antialiased;
  text-rendering: optimizeLegibility;
}

body::before {
  content: "";
  position: fixed;
  inset: 0;
  z-index: -1;
  pointer-events: none;
  background:
    linear-gradient(180deg, rgba(255, 255, 255, 0.035), transparent 22rem),
    repeating-linear-gradient(180deg, rgba(255, 255, 255, 0.018) 0 1px, transparent 1px 7px);
}

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

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

code {
  font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace;
  font-size: 0.9em;
}

mark {
  padding: 0 0.12em;
  background:
    linear-gradient(180deg, transparent 48%, rgba(52, 211, 153, 0.28) 48%),
    linear-gradient(90deg, rgba(103, 232, 249, 0.16), rgba(246, 184, 75, 0.2));
  color: inherit;
  border-radius: 3px;
}

table {
  width: 100%;
  border-collapse: collapse;
}

::selection {
  background: rgba(168, 85, 247, 0.42);
}

.site-header {
  position: sticky;
  top: 14px;
  z-index: 100;
  width: min(var(--container), calc(100% - 28px));
  min-height: 58px;
  display: grid;
  grid-template-columns: auto 1fr auto;
  align-items: center;
  gap: 18px;
  margin: 14px auto 0;
  padding: 8px 9px;
  border: 1px solid rgba(148, 163, 184, 0.18);
  border-radius: 999px;
  background: rgba(7, 7, 12, 0.74);
  box-shadow: 0 20px 52px rgba(0, 0, 0, 0.34), 0 0 34px rgba(168, 85, 247, 0.08);
  backdrop-filter: blur(18px);
}

.brand {
  display: inline-flex;
  align-items: center;
  gap: 10px;
  padding: 6px 10px;
  font-weight: 900;
  letter-spacing: 0;
}

.brand img {
  width: 30px;
  height: 30px;
  object-fit: contain;
  filter: drop-shadow(0 0 12px rgba(103, 232, 249, 0.42));
}

.nav {
  display: flex;
  justify-content: center;
  gap: 4px;
}

.nav a,
.paper-link {
  display: inline-flex;
  min-height: 38px;
  align-items: center;
  justify-content: center;
  padding: 9px 13px;
  border-radius: 999px;
  color: var(--text-2);
  font-size: 0.82rem;
  font-weight: 760;
  transition: background 180ms ease, color 180ms ease, border-color 180ms ease;
}

.nav a:hover,
.nav a.is-active {
  color: var(--text);
  background: rgba(168, 85, 247, 0.14);
}

.paper-link {
  border: 1px solid rgba(34, 211, 238, 0.35);
  background: rgba(34, 211, 238, 0.12);
  color: var(--sky);
}

.paper-link:hover {
  border-color: rgba(34, 211, 238, 0.58);
  background: rgba(34, 211, 238, 0.18);
}

.hero {
  width: min(var(--container), calc(100% - 28px));
  display: grid;
  align-content: center;
  gap: 28px;
  margin: 0 auto;
  padding: 78px 0 44px;
}

.hero-copy {
  max-width: 910px;
}

.meta,
.section-kicker {
  display: inline-flex;
  align-items: center;
  min-height: 28px;
  margin: 0 0 16px;
  padding: 6px 10px;
  border: 1px solid rgba(148, 163, 184, 0.22);
  border-radius: 999px;
  background: rgba(18, 18, 26, 0.62);
  color: var(--text-2);
  font-size: 0.74rem;
  font-weight: 820;
  text-transform: uppercase;
  backdrop-filter: blur(12px);
}

.hero h1 {
  margin: 0;
  font-family: ui-serif, Georgia, Cambria, "Times New Roman", Times, serif;
  font-size: clamp(3.6rem, 9vw, 7.4rem);
  font-weight: 900;
  line-height: 0.88;
  letter-spacing: 0;
  background: linear-gradient(135deg, #ffffff 0%, #c084fc 28%, #f472b6 58%, #67e8f9 100%);
  -webkit-background-clip: text;
  background-clip: text;
  color: transparent;
  filter: drop-shadow(0 0 20px rgba(168, 85, 247, 0.16));
}

.title-line {
  max-width: 760px;
  margin: 18px 0 0;
  font-family: ui-serif, Georgia, Cambria, "Times New Roman", Times, serif;
  font-size: clamp(1.45rem, 3vw, 2.85rem);
  font-style: italic;
  font-weight: 450;
  line-height: 1.08;
  letter-spacing: 0;
  color: var(--text);
}

.hero-lede {
  max-width: 740px;
  margin: 22px 0 0;
  color: var(--text-2);
  font-size: 1.05rem;
}

.hero-actions {
  display: flex;
  flex-wrap: wrap;
  gap: 10px;
  margin-top: 28px;
}

.hero-actions a {
  display: inline-flex;
  min-height: 42px;
  align-items: center;
  justify-content: center;
  padding: 10px 15px;
  border: 1px solid var(--line);
  border-radius: 999px;
  background: rgba(18, 18, 26, 0.78);
  color: var(--text);
  font-weight: 820;
  box-shadow: 0 12px 34px rgba(0, 0, 0, 0.22);
}

.hero-actions a:first-child {
  border-color: rgba(168, 85, 247, 0.48);
  background: linear-gradient(135deg, rgba(168, 85, 247, 0.68), rgba(236, 72, 153, 0.44));
}

.hero-media {
  position: relative;
  margin: 0;
  overflow: hidden;
  border: 1px solid var(--line);
  border-radius: 18px;
  background: transparent;
  box-shadow: var(--shadow);
  transition: transform 220ms ease, border-color 220ms ease, box-shadow 220ms ease;
}

.hero-media img {
  width: 100%;
  aspect-ratio: 1.97 / 1;
  object-fit: contain;
  transition: transform 520ms ease, filter 220ms ease;
}

.headline-results {
  width: min(var(--container), calc(100% - 28px));
  display: grid;
  grid-template-columns: repeat(4, minmax(0, 1fr));
  margin: 0 auto 90px;
  overflow: hidden;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: rgba(18, 18, 26, 0.82);
  box-shadow: var(--shadow);
  backdrop-filter: blur(16px);
}

.headline-results article {
  min-width: 0;
  padding: 20px;
  border-right: 1px solid var(--line-2);
}

.headline-results article:last-child {
  border-right: 0;
}

.headline-results span,
.result-bars span,
.ablation-row span,
.resource-links span,
.method-grid span,
.contribution-list span {
  display: block;
  color: var(--muted);
  font-size: 0.76rem;
  font-weight: 850;
  text-transform: uppercase;
}

.headline-results strong {
  display: block;
  margin: 5px 0 2px;
  color: var(--text);
  font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace;
  font-size: clamp(1.65rem, 3vw, 2.25rem);
  line-height: 1;
}

.headline-results small {
  color: var(--text-2);
}

.section {
  width: min(var(--container), calc(100% - 28px));
  margin: 0 auto 96px;
}

.two-column {
  display: grid;
  grid-template-columns: minmax(0, 0.9fr) minmax(0, 1.1fr);
  gap: 58px;
  align-items: start;
}

h2 {
  margin: 0;
  color: var(--text);
  font-family: ui-serif, Georgia, Cambria, "Times New Roman", Times, serif;
  font-size: clamp(2rem, 4.6vw, 4rem);
  font-weight: 500;
  line-height: 1.04;
  letter-spacing: 0;
}

.results-section h2 {
  font-size: clamp(1.75rem, 3.2vw, 3rem);
}

.prose p,
.limitations {
  margin: 0;
  color: var(--text-2);
  font-size: 1.01rem;
}

.prose p + p {
  margin-top: 16px;
}

.detail-prose {
  max-width: 920px;
  margin-top: 18px;
}

.paper-figure {
  position: relative;
  margin: 30px 0 0;
  overflow: hidden;
  border: 1px solid var(--line);
  border-radius: 16px;
  background: rgba(18, 18, 26, 0.82);
  box-shadow: var(--shadow);
  transition: transform 220ms ease, border-color 220ms ease, box-shadow 220ms ease;
}

.video-figure {
  margin: 30px 0 0;
  overflow: hidden;
  border: 1px solid var(--line);
  border-radius: 16px;
  background: rgba(18, 18, 26, 0.86);
  box-shadow: var(--shadow);
}

.video-figure video {
  display: block;
  width: 100%;
  aspect-ratio: 16 / 9;
  background: #000;
}

.paper-figure img {
  width: 100%;
  transition: transform 520ms ease, filter 220ms ease;
}

.paper-figure figcaption,
.video-figure figcaption,
.gallery-grid figcaption,
.robot-figures figcaption {
  position: relative;
  z-index: 2;
  padding: 12px 14px;
  border-top: 1px solid var(--line-2);
  color: var(--text-2);
  font-size: 0.86rem;
  transition: color 180ms ease, background 180ms ease;
}

.contribution-list,
.method-grid,
.ablation-row {
  display: grid;
  grid-template-columns: repeat(4, minmax(0, 1fr));
  gap: 12px;
}

.contribution-list article,
.method-grid article,
.ablation-row article {
  padding: 18px;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: var(--surface);
  box-shadow: 0 16px 44px rgba(0, 0, 0, 0.22);
  backdrop-filter: blur(14px);
}

.contribution-list h3,
.method-grid h3 {
  margin: 10px 0 8px;
  color: var(--text);
  font-size: 1.04rem;
  line-height: 1.22;
}

.contribution-list p,
.method-grid p,
.ablation-row p {
  margin: 0;
  color: var(--text-2);
  font-size: 0.93rem;
}

.architecture img,
.paper-figure.slim img {
  padding: 10px;
}

.math-block {
  overflow-x: auto;
  margin: 12px 0;
  padding: 12px;
  border: 1px solid rgba(103, 232, 249, 0.18);
  border-radius: 8px;
  background: rgba(5, 5, 8, 0.42);
}

.math-block mjx-container {
  color: var(--text);
  min-width: max-content;
}

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

.math-toggle {
  border-bottom: 1px solid var(--line);
}

.math-toggle summary {
  display: flex;
  cursor: pointer;
  align-items: center;
  justify-content: space-between;
  gap: 16px;
  padding: 16px 0;
  color: var(--text);
  font-size: 0.98rem;
  font-weight: 780;
}

.math-toggle summary::marker {
  color: var(--sky);
}

.math-toggle summary span {
  color: var(--sky);
  font-size: 0.74rem;
  font-weight: 850;
  text-transform: uppercase;
}

.math-toggle-body {
  max-width: 940px;
  padding: 0 0 18px;
}

.math-toggle-body h3 {
  margin: 22px 0 8px;
  color: var(--text);
  font-size: 1rem;
  line-height: 1.2;
}

.math-toggle-body h3:first-child {
  margin-top: 0;
}

.math-toggle-body p {
  margin: 0;
  color: var(--text-2);
  font-size: 0.95rem;
}

.math-toggle-body p + .math-block,
.math-toggle-body .math-block + p,
.math-toggle-body .math-block + h3 {
  margin-top: 12px;
}

.method-grid {
  grid-template-columns: repeat(3, minmax(0, 1fr));
  margin-top: 18px;
}

.method-grid code {
  color: var(--green);
  white-space: normal;
}

.result-bars {
  display: grid;
  grid-template-columns: repeat(3, minmax(0, 1fr));
  gap: 14px;
  margin: 30px 0 18px;
}

.result-bars article {
  padding: 18px;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: var(--surface);
  box-shadow: 0 16px 44px rgba(0, 0, 0, 0.22);
}

.result-bars div {
  display: flex;
  align-items: baseline;
  justify-content: space-between;
  gap: 12px;
  margin-bottom: 16px;
}

.result-bars strong {
  font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace;
  font-size: 1.85rem;
}

.result-bars small {
  display: block;
  margin-top: 10px;
  color: var(--green);
  font-size: 0.82rem;
  font-weight: 780;
}

.result-bars i {
  display: block;
  width: 100%;
  height: 10px;
  border-radius: 999px;
  background: rgba(255, 255, 255, 0.08);
  overflow: hidden;
}

.result-bars i::before {
  content: "";
  display: block;
  width: var(--value);
  height: 100%;
  border-radius: inherit;
  background: linear-gradient(90deg, var(--purple), var(--pink), var(--cyan));
}

.table-wrap {
  overflow-x: auto;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: rgba(18, 18, 26, 0.84);
  box-shadow: var(--shadow);
}

.table-wrap table {
  min-width: 760px;
}

caption {
  padding: 14px 16px;
  color: var(--muted);
  font-size: 0.84rem;
  text-align: left;
  caption-side: top;
}

th,
td {
  padding: 12px 14px;
  border-top: 1px solid var(--line-2);
  text-align: left;
  white-space: nowrap;
}

th {
  color: var(--text);
  font-size: 0.76rem;
  font-weight: 860;
  text-transform: uppercase;
}

td {
  color: var(--text-2);
}

tr.ours {
  background: rgba(34, 211, 238, 0.08);
}

tr.ours td {
  color: var(--text);
  font-weight: 850;
}

.ablation-row {
  margin-top: 18px;
}

.ablation-row strong {
  display: block;
  margin: 8px 0;
  color: var(--text);
  font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace;
  font-size: 1.28rem;
}

.libero-section h2 {
  max-width: 740px;
  margin-bottom: 24px;
}

.gallery-grid {
  display: grid;
  grid-template-columns: repeat(6, minmax(0, 1fr));
  gap: 10px;
}

.gallery-grid figure,
.robot-figures figure {
  position: relative;
  margin: 0;
  overflow: hidden;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: var(--surface);
  box-shadow: 0 16px 44px rgba(0, 0, 0, 0.22);
  transition: transform 220ms ease, border-color 220ms ease, box-shadow 220ms ease;
}

.gallery-grid img {
  width: 100%;
  aspect-ratio: 1;
  object-fit: cover;
  transition: transform 420ms ease, filter 220ms ease;
}

.paper-figure.qualitative img {
  max-height: 720px;
  object-fit: contain;
}

.robot-figures {
  display: grid;
  grid-template-columns: minmax(0, 0.82fr) minmax(0, 1.18fr);
  gap: 14px;
  margin: 30px 0 18px;
}

.robot-figures img {
  width: 100%;
  height: 430px;
  object-fit: cover;
  transition: transform 520ms ease, filter 220ms ease;
}

.robot-figures figure:nth-child(2) img {
  object-fit: contain;
  padding: 8px;
}

.hover-reactive::before {
  content: "";
  position: absolute;
  inset: 0;
  z-index: 1;
  pointer-events: none;
  opacity: 0;
  background:
    radial-gradient(
      520px circle at var(--mx, 50%) var(--my, 50%),
      rgba(103, 232, 249, 0.18),
      rgba(168, 85, 247, 0.08) 32%,
      transparent 62%
    );
  transition: opacity 180ms ease;
}

.hover-reactive:hover::before {
  opacity: 1;
}

.hero-media:hover,
.paper-figure:hover,
.gallery-grid figure:hover,
.robot-figures figure:hover {
  transform: translateY(-3px);
  border-color: rgba(103, 232, 249, 0.42);
  box-shadow: 0 30px 92px rgba(0, 0, 0, 0.48), 0 0 34px rgba(168, 85, 247, 0.14);
}

.hero-media:hover img,
.paper-figure:hover img,
.robot-figures figure:hover img {
  transform: scale(1.014);
  filter: saturate(1.05) contrast(1.04);
}

.gallery-grid figure:hover img {
  transform: scale(1.06);
  filter: saturate(1.08) contrast(1.05);
}

.paper-figure:hover figcaption,
.gallery-grid figure:hover figcaption,
.robot-figures figure:hover figcaption {
  color: var(--text);
  background: rgba(168, 85, 247, 0.08);
}

.table-wrap.compact table {
  min-width: 640px;
}

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

.resource-links a {
  display: grid;
  gap: 4px;
  min-height: 84px;
  align-content: center;
  padding: 16px;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: var(--surface);
  box-shadow: 0 16px 44px rgba(0, 0, 0, 0.22);
  font-weight: 820;
}

.limitations {
  margin-top: 28px;
  padding: 18px 20px;
  border-left: 4px solid var(--pink);
  border-radius: 0 var(--radius) var(--radius) 0;
  background: rgba(18, 18, 26, 0.82);
}

.footer {
  width: min(var(--container), calc(100% - 28px));
  display: flex;
  justify-content: space-between;
  gap: 16px;
  margin: 0 auto;
  padding: 34px 0 48px;
  color: var(--muted);
  font-size: 0.9rem;
}

.footer a {
  color: var(--sky);
  font-weight: 820;
}

@media (max-width: 980px) {
  .site-header {
    grid-template-columns: auto auto;
    border-radius: 20px;
  }

  .nav {
    grid-column: 1 / -1;
    justify-content: flex-start;
    overflow-x: auto;
  }

  .two-column,
  .robot-figures {
    grid-template-columns: 1fr;
    gap: 24px;
  }

  .headline-results,
  .contribution-list,
  .method-grid,
  .ablation-row,
  .result-bars {
    grid-template-columns: repeat(2, minmax(0, 1fr));
  }

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

  .robot-figures img {
    height: auto;
  }
}

@media (max-width: 640px) {
  .site-header {
    top: 8px;
    width: calc(100% - 16px);
    margin-top: 8px;
    padding: 8px;
  }

  .paper-link {
    width: 100%;
    grid-column: 1 / -1;
  }

  .nav a,
  .paper-link {
    min-height: 34px;
    padding: 8px 10px;
    font-size: 0.74rem;
  }

  .hero {
    padding-top: 52px;
  }

  .title-line {
    font-size: 1.55rem;
  }

  .hero-lede {
    font-size: 0.98rem;
  }

  .hero-media {
    border-radius: 14px;
  }

  .hero-media img {
    aspect-ratio: 1.97 / 1;
    object-position: center;
  }

  .headline-results,
  .contribution-list,
  .method-grid,
  .ablation-row,
  .result-bars,
  .resource-links {
    grid-template-columns: 1fr;
  }

  .headline-results article {
    border-right: 0;
    border-bottom: 1px solid var(--line-2);
  }

  .headline-results article:last-child {
    border-bottom: 0;
  }

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

  .math-block {
    padding: 10px;
  }

  .section {
    margin-bottom: 76px;
  }

  .footer {
    flex-direction: column;
  }
}

@media (prefers-reduced-motion: reduce) {
  *,
  *::before,
  *::after {
    scroll-behavior: auto !important;
    transition: none !important;
  }
}