html {
  scrollbar-gutter: stable;
}

body {
  font-family: "Noto Sans", BlinkMacSystemFont, -apple-system, "Segoe UI", sans-serif;
  background: #fbfaf7;
  color: #263238;
}

html.has-modal {
  overflow: hidden;
}

:focus-visible {
  outline: 3px solid #2f6f73;
  outline-offset: 3px;
}

.navbar-burger {
  background: transparent;
  border: 0;
  padding: 0;
}

.navbar {
  backdrop-filter: blur(14px);
  background: rgba(251, 250, 247, 0.92);
}

.navbar-start {
  flex-grow: 1;
  justify-content: center;
}

.publication-title {
  font-family: "Google Sans", "Noto Sans", sans-serif;
  letter-spacing: 0;
  max-width: 1040px;
  margin-bottom: 0.4rem;
  margin-left: auto;
  margin-right: auto;
}

.publication-venue {
  color: #2f6f73;
  font-size: 0.95rem;
  font-weight: 600;
  line-height: 1.3;
  margin: 0;
}

.publication-credits {
  margin: 0.5rem auto 0.65rem;
  max-width: 900px;
}

.publication-authors {
  color: #263238;
  font-size: 0.95rem;
  font-weight: 700;
  line-height: 1.55;
}

.publication-author-row,
.publication-affiliation-row,
.publication-author-notes {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  margin: 0;
}

.publication-author-row {
  column-gap: 0.85rem;
}

.publication-author,
.publication-affiliation-row span,
.publication-author-notes span {
  white-space: nowrap;
}

.publication-credits sup {
  color: #2f6f73;
  font-size: 0.7em;
  line-height: 0;
  margin-left: 0.12em;
}

.publication-affiliations {
  color: #55616d;
  font-size: 0.79rem;
  line-height: 1.55;
  margin-top: 0.35rem;
}

.publication-affiliation-row {
  column-gap: 1rem;
}

.publication-author-notes {
  color: #667085;
  column-gap: 0.8rem;
  font-size: 0.72rem;
  line-height: 1.5;
  margin-top: 0.25rem;
}

.intent-hero .hero-body {
  padding-bottom: 1rem;
  padding-top: 1.6rem;
}

.publication-links {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 0.65rem;
  margin-top: 0.7rem;
}

.intent-hero {
  background:
    linear-gradient(135deg, rgba(251, 250, 247, 0.94) 0%, rgba(245, 241, 233, 0.8) 58%, rgba(229, 236, 230, 0.92) 100%);
  border-bottom: 1px solid rgba(38, 50, 56, 0.08);
}

.hero[id],
.section[id] {
  scroll-margin-top: 4.25rem;
}

.teaser-video-shell {
  max-width: 1120px;
  margin: 0 auto;
  border-radius: 10px;
  overflow: hidden;
  background: #111827;
  box-shadow: 0 22px 55px rgba(15, 23, 42, 0.24);
}

.teaser-section .hero-body {
  padding-top: 1rem;
}

.teaser-video-shell iframe {
  border: 0;
  display: block;
  width: 100%;
  aspect-ratio: 16 / 9;
  object-fit: cover;
}

.video-storyboard {
  max-width: 1120px;
  margin: 1rem auto 0;
  background: #fff;
  border: 1px solid rgba(38, 50, 56, 0.12);
  border-radius: 8px;
  box-shadow: 0 12px 30px rgba(15, 23, 42, 0.055);
  padding: 1rem;
}

.storyboard-title {
  color: #1f2937;
  font-size: 1.05rem;
  font-weight: 850;
  margin-bottom: 0.9rem;
}

.storyboard-subtitle {
  color: #667085;
  font-size: 0.88rem;
  font-weight: 650;
}

.storyboard-frames {
  display: grid;
  gap: 0.8rem;
  grid-template-columns: repeat(3, minmax(0, 1fr));
}

.storyboard-frame {
  border: 1px solid rgba(38, 50, 56, 0.1);
  border-radius: 8px;
  cursor: pointer;
  overflow: hidden;
  position: relative;
  transition: transform 0.18s, box-shadow 0.18s;
}

.storyboard-frame:hover {
  box-shadow: 0 12px 26px rgba(15, 23, 42, 0.12);
  transform: translateY(-2px);
}

.storyboard-seek {
  background: transparent;
  border: 0;
  cursor: pointer;
  inset: 0;
  padding: 0;
  position: absolute;
  width: 100%;
  z-index: 1;
}

.storyboard-seek:focus-visible {
  border-radius: inherit;
  outline-offset: -3px;
}

.storyboard-image {
  align-items: center;
  aspect-ratio: 16 / 9;
  background: #111827;
  color: #cbd5e1;
  display: flex;
  font-size: 0.85rem;
  font-weight: 750;
  justify-content: center;
  position: relative;
  text-align: center;
}

.storyboard-image img {
  display: block;
  height: 100%;
  object-fit: cover;
  width: 100%;
}

.storyboard-zoom {
  align-items: center;
  background: rgba(17, 24, 39, 0.78);
  border: 1px solid rgba(255, 255, 255, 0.24);
  border-radius: 999px;
  color: #fff;
  cursor: pointer;
  display: inline-flex;
  font-size: 0.9rem;
  height: 2rem;
  justify-content: center;
  padding: 0;
  position: absolute;
  right: 0.45rem;
  top: 0.45rem;
  width: 2rem;
  z-index: 2;
}

.frame-time {
  background: #9a3412;
  border-radius: 999px;
  color: #fff;
  display: inline-block;
  font-size: 0.78rem;
  font-weight: 850;
  margin: 0.65rem 0.65rem 0.35rem;
  padding: 0.15rem 0.55rem;
}

.frame-description {
  color: #55616d;
  font-size: 0.86rem;
  line-height: 1.45;
  padding: 0 0.65rem 0.8rem;
}

.section-kicker {
  color: #9a3412;
  font-size: 0.82rem;
  font-weight: 850;
  letter-spacing: 0.09em;
  margin-bottom: 0.5rem;
  text-transform: uppercase;
}

.section-heading {
  max-width: 900px;
  margin: 0 auto 1.3rem;
}

.section-heading .title {
  margin-bottom: 0.6rem;
}

.overview-section {
  padding-top: 2.5rem;
  padding-bottom: 2.5rem;
}

.overview-grid,
.demo-grid,
.embodiment-grid {
  display: grid;
  gap: 1rem;
  margin: 0 auto;
  max-width: 1120px;
}

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

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

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

.overview-card,
.demo-card,
.embodiment-card {
  background: #fff;
  border: 1px solid rgba(38, 50, 56, 0.12);
  border-radius: 8px;
  box-shadow: 0 12px 30px rgba(15, 23, 42, 0.055);
  overflow: hidden;
}

.overview-card,
.embodiment-card {
  padding: 1.25rem;
}

.overview-card h3,
.demo-card h3,
.embodiment-card h3 {
  color: #1f2937;
  font-size: 1.1rem;
  font-weight: 850;
  margin: 0 0 0.6rem;
}

.overview-card p,
.demo-card p,
.embodiment-card p {
  color: #55616d;
  margin: 0;
}

.story-tag {
  color: #9a3412;
  display: block;
  font-size: 0.78rem;
  font-weight: 850;
  letter-spacing: 0.08em;
  margin-bottom: 0.6rem;
  text-transform: uppercase;
}

.method-figure {
  margin: 1.15rem auto 0;
  max-width: 1120px;
}

.method-figure img {
  background: #fff;
  border: 1px solid rgba(38, 50, 56, 0.12);
  border-radius: 8px;
  box-shadow: 0 12px 30px rgba(15, 23, 42, 0.055);
  display: block;
  width: 100%;
}

.method-figure figcaption {
  color: #667085;
  font-size: 0.86rem;
  line-height: 1.5;
  margin-top: 0.55rem;
  text-align: center;
}

.method-figure figcaption strong {
  color: #1f2937;
}

.section-lead {
  color: #55616d;
  font-size: 1.02rem;
  line-height: 1.6;
  margin: 0.6rem auto 0;
  max-width: 760px;
}

.section-lead em {
  color: #9a3412;
  font-style: normal;
  font-weight: 750;
}

.approach-section {
  padding-top: 2.5rem;
  padding-bottom: 3rem;
}

.contrib-grid {
  display: grid;
  gap: 1rem;
  grid-template-columns: repeat(3, minmax(0, 1fr));
  margin: 1.4rem auto 0;
  max-width: 1120px;
}

.contrib-card {
  background: #fff;
  border: 1px solid rgba(38, 50, 56, 0.12);
  border-radius: 8px;
  box-shadow: 0 12px 30px rgba(15, 23, 42, 0.055);
  display: flex;
  flex-direction: column;
  padding: 1.45rem 1.3rem;
}

.contrib-number {
  align-items: center;
  background: #16212b;
  border-radius: 999px;
  color: #fff;
  display: inline-flex;
  font-size: 0.98rem;
  font-weight: 850;
  height: 2.1rem;
  justify-content: center;
  margin-bottom: 0.85rem;
  width: 2.1rem;
}

.contrib-card h3 {
  color: #1f2937;
  font-size: 1.12rem;
  font-weight: 850;
  margin: 0 0 0.6rem;
}

.contrib-card p {
  color: #55616d;
  margin: 0 0 0.95rem;
}

.contrib-highlights {
  border-top: 1px solid rgba(38, 50, 56, 0.1);
  list-style: none;
  margin: auto 0 0;
  padding: 0.85rem 0 0;
}

.contrib-highlights li {
  color: #2f6f73;
  font-size: 0.85rem;
  font-weight: 750;
  margin-bottom: 0.35rem;
  padding-left: 1.15rem;
  position: relative;
}

.contrib-highlights li:last-child {
  margin-bottom: 0;
}

.contrib-highlights li::before {
  content: "\25B8";
  left: 0;
  position: absolute;
}

.paper-table {
  background: #fff;
  border: 1px solid rgba(38, 50, 56, 0.12);
  border-radius: 8px;
  box-shadow: 0 12px 30px rgba(15, 23, 42, 0.055);
  margin: 0 auto;
  max-width: 900px;
  overflow: hidden;
}

.result-table-shell {
  max-width: 1180px;
}

.result-caption {
  color: #55616d;
  font-size: 0.94rem;
  line-height: 1.55;
  margin: 0;
  padding: 1rem 1.1rem 0.3rem;
  text-align: center;
}

.paper-table .table {
  margin: 0;
}

.result-table {
  min-width: 980px;
}

.result-table th,
.result-table td {
  font-size: 0.9rem;
  vertical-align: middle;
}

.result-table thead th {
  background: #f3f6f4;
  border-bottom: 1px solid rgba(38, 50, 56, 0.16);
  color: #1f2937;
  text-align: center;
  white-space: nowrap;
}

.result-table tbody td:nth-child(n+3) {
  text-align: center;
  white-space: nowrap;
}

.result-table tbody td:first-child {
  color: #1f2937;
  font-weight: 800;
  white-space: nowrap;
}

.result-group-row td {
  background: #fbfaf7;
  color: #9a3412;
  font-size: 0.78rem;
  font-weight: 850;
  letter-spacing: 0.08em;
  padding: 0.7rem 0.85rem;
  text-transform: uppercase;
}

.result-ours-divider td {
  background: #edf5f2;
  color: #2f6f73;
}

.result-ours-row td {
  background: rgba(47, 111, 115, 0.075);
  border-bottom: 0;
  font-weight: 850;
}

.best-result {
  background: rgba(154, 52, 18, 0.1);
  border-radius: 5px;
  color: #9a3412;
  font-weight: 850;
}

.missing {
  color: #98a2b3;
}

.demo-toolbar {
  display: flex;
  flex-wrap: wrap;
  gap: 0.55rem;
  justify-content: center;
  margin: -0.6rem auto 1.4rem;
}

.filter-button {
  border: 1px solid rgba(47, 111, 115, 0.22);
  border-radius: 999px;
  background: #fff;
  color: #2f6f73;
  cursor: pointer;
  font-weight: 800;
  padding: 0.55rem 0.85rem;
}

.filter-button.is-active {
  background: #2f6f73;
  color: #fff;
}

.youtube-embed {
  aspect-ratio: 16 / 9;
  background: #111827;
  width: 100%;
}

.youtube-embed iframe {
  border: 0;
  display: block;
  height: 100%;
  width: 100%;
}

.demo-card-body {
  padding: 1rem;
}

.demo-meta {
  color: #9a3412;
  display: block;
  font-size: 0.78rem;
  font-weight: 850;
  letter-spacing: 0.08em;
  margin-bottom: 0.4rem;
  text-transform: uppercase;
}

.highlight-target,
.highlight-frontier,
.highlight-waypoint,
.highlight-transfer {
  border-radius: 5px;
  font-weight: 850;
  padding: 0.04rem 0.22rem;
}

.highlight-target {
  background: rgba(154, 52, 18, 0.12);
  color: #9a3412;
}

.highlight-frontier {
  background: rgba(47, 111, 115, 0.13);
  color: #2f6f73;
}

.highlight-waypoint {
  background: rgba(249, 115, 22, 0.14);
  color: #c2410c;
}

.highlight-transfer {
  background: rgba(30, 64, 175, 0.1);
  color: #1e40af;
}

.storyboard-modal {
  align-items: center;
  background: transparent;
  border: 0;
  display: none;
  height: 100%;
  inset: 0;
  justify-content: center;
  margin: 0;
  max-height: none;
  max-width: none;
  padding: 2rem;
  position: fixed;
  width: 100%;
}

.storyboard-modal[open] {
  display: flex;
}

.storyboard-modal::backdrop {
  background: rgba(15, 23, 42, 0.92);
}

.storyboard-modal-content {
  max-width: min(1100px, 92vw);
  text-align: center;
  width: 100%;
}

.storyboard-modal-content img {
  border-radius: 8px;
  display: none;
  max-height: 82vh;
  object-fit: contain;
  width: 100%;
}

.storyboard-modal-content.has-image img {
  display: block;
}

.storyboard-modal-fallback {
  background: #fff;
  border-radius: 8px;
  color: #475467;
  display: block;
  padding: 2rem;
}

.storyboard-modal-content.has-image .storyboard-modal-fallback {
  display: none;
}

.storyboard-modal-close {
  align-items: center;
  background: rgba(255, 255, 255, 0.12);
  border: 1px solid rgba(255, 255, 255, 0.25);
  border-radius: 999px;
  color: #fff;
  cursor: pointer;
  display: flex;
  font-size: 2rem;
  height: 3rem;
  justify-content: center;
  line-height: 1;
  position: fixed;
  right: 1.25rem;
  top: 1.25rem;
  width: 3rem;
}

@media screen and (max-width: 900px) {
  .overview-grid,
  .contrib-grid,
  .demo-grid,
  .embodiment-grid,
  .storyboard-frames {
    grid-template-columns: 1fr;
  }
}

@media screen and (min-width: 769px) {
  .publication-title {
    font-size: clamp(1.8rem, 2.35vw, 2.3rem);
  }

  .teaser-video-shell {
    max-width: min(1120px, max(480px, calc(177.78vh - 551px)));
  }
}

@media screen and (min-width: 769px) and (max-height: 780px) {
  .intent-hero .hero-body {
    padding-bottom: 0.55rem;
    padding-top: 1rem;
  }

  .publication-title {
    font-size: clamp(1.45rem, 1.8vw, 1.65rem);
  }

  .publication-links {
    margin-top: 0.45rem;
  }

  .teaser-section .hero-body {
    padding-top: 0.75rem;
  }

  .teaser-video-shell {
    max-width: min(920px, max(480px, calc(177.78vh - 506px)));
  }
}

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

  .button,
  .storyboard-frame {
    transition: none;
  }
}

@media screen and (max-width: 768px) {
  .publication-authors {
    font-size: 0.88rem;
  }

  .publication-author-row {
    column-gap: 0.7rem;
  }

  .publication-affiliations {
    font-size: 0.75rem;
  }

  .publication-affiliation-row span {
    white-space: normal;
  }

  .publication-links {
    align-items: stretch;
    flex-direction: column;
  }

  .publication-links .button {
    width: 100%;
  }

}