:root {
  --bg: #f7f7f2;
  --surface: #ffffff;
  --ink: #1f2328;
  --muted: #626a73;
  --line: #d9ded8;
  --teal: #0f766e;
  --teal-dark: #0a4d48;
  --amber: #c77900;
  --steel: #4b6475;
  --shadow: 0 18px 45px rgba(31, 35, 40, 0.12);
  --radius: 8px;
}

* {
  box-sizing: border-box;
}

html {
  scroll-behavior: smooth;
}

body {
  margin: 0;
  background: var(--bg);
  color: var(--ink);
  font-family:
    Inter, ui-sans-serif, system-ui, -apple-system, BlinkMacSystemFont, "Segoe UI",
    sans-serif;
  line-height: 1.5;
}

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

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

.site-nav {
  position: fixed;
  top: 0;
  left: 0;
  right: 0;
  z-index: 10;
  display: grid;
  grid-template-columns: auto 1fr auto;
  align-items: center;
  gap: 24px;
  padding: 14px clamp(18px, 3vw, 40px);
  color: #ffffff;
  background: rgba(12, 18, 20, 0.72);
  border-bottom: 1px solid rgba(255, 255, 255, 0.14);
  backdrop-filter: blur(14px);
}

.brand {
  font-weight: 800;
  letter-spacing: 0;
}

.nav-links,
.nav-actions,
.hero-actions {
  display: flex;
  align-items: center;
  gap: 14px;
}

.nav-links {
  justify-content: center;
  color: rgba(255, 255, 255, 0.82);
  font-size: 0.92rem;
}

.nav-links a:hover {
  color: #ffffff;
}

.button {
  display: inline-flex;
  min-height: 40px;
  align-items: center;
  justify-content: center;
  padding: 0 16px;
  border: 1px solid transparent;
  border-radius: var(--radius);
  font-size: 0.92rem;
  font-weight: 700;
  white-space: nowrap;
}

.button.primary {
  color: #ffffff;
  background: var(--teal);
}

.button.secondary {
  color: #ffffff;
  border-color: rgba(255, 255, 255, 0.55);
  background: rgba(255, 255, 255, 0.08);
}

.button.ghost {
  min-height: 34px;
  padding: 0 12px;
  color: rgba(255, 255, 255, 0.88);
  border-color: rgba(255, 255, 255, 0.26);
}

.button[aria-disabled="true"] {
  cursor: default;
  opacity: 0.58;
}

.resource-button {
  display: inline-flex;
  min-height: 42px;
  align-items: center;
  justify-content: center;
  gap: 9px;
  padding: 0 15px;
  border: 1px solid rgba(255, 255, 255, 0.38);
  border-radius: var(--radius);
  color: #ffffff;
  font-size: 0.92rem;
  font-weight: 800;
  line-height: 1;
  white-space: nowrap;
  box-shadow: 0 10px 24px rgba(0, 0, 0, 0.2);
}

.resource-button:hover {
  transform: translateY(-1px);
}

.arxiv-button {
  background: #b31b1b;
  border-color: rgba(255, 255, 255, 0.42);
}

.github-button {
  background: #24292f;
  border-color: rgba(255, 255, 255, 0.34);
}

.button-icon {
  flex: 0 0 auto;
  width: 24px;
  height: 24px;
}

.arxiv-mark {
  display: inline-flex;
  width: 38px;
  height: 24px;
  align-items: center;
  justify-content: center;
  border-radius: 4px;
  color: #b31b1b;
  background: #ffffff;
  font-family: Georgia, "Times New Roman", serif;
  font-size: 0.72rem;
  font-weight: 700;
  letter-spacing: 0;
}

.github-mark {
  fill: currentColor;
}

.hero {
  position: relative;
  min-height: 92vh;
  padding: clamp(104px, 12vh, 132px) clamp(20px, 5vw, 70px) 34px;
  display: grid;
  grid-template-columns: minmax(0, 730px) minmax(320px, 520px);
  align-items: end;
  gap: clamp(28px, 5vw, 70px);
  overflow: hidden;
  color: #ffffff;
}

.hero-video,
.hero-scrim {
  position: absolute;
  inset: 0;
  width: 100%;
  height: 100%;
}

.hero-video {
  object-fit: cover;
}

.hero-scrim {
  background:
    linear-gradient(90deg, rgba(4, 12, 13, 0.88) 0%, rgba(4, 12, 13, 0.54) 45%, rgba(4, 12, 13, 0.18) 100%),
    linear-gradient(180deg, rgba(4, 12, 13, 0.46) 0%, rgba(4, 12, 13, 0.1) 42%, rgba(4, 12, 13, 0.75) 100%);
}

.hero-content,
.metric-grid {
  position: relative;
  z-index: 1;
}

.eyebrow {
  margin: 0 0 12px;
  color: var(--teal);
  font-size: 0.78rem;
  font-weight: 800;
  letter-spacing: 0.08em;
  text-transform: uppercase;
}

.hero .eyebrow {
  color: #86e1d7;
}

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

h1 {
  margin-bottom: 8px;
  font-size: clamp(4.8rem, 14vw, 10.5rem);
  line-height: 0.86;
  letter-spacing: 0;
}

.subtitle {
  max-width: 760px;
  margin-bottom: 22px;
  font-size: clamp(1.55rem, 3vw, 3rem);
  font-weight: 750;
  line-height: 1.04;
}

.claim {
  max-width: 690px;
  color: rgba(255, 255, 255, 0.86);
  font-size: clamp(1rem, 1.5vw, 1.22rem);
}

.hero-actions {
  margin-top: 30px;
  flex-wrap: wrap;
}

.metric-grid {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 12px;
  align-self: end;
}

.metric {
  min-height: 112px;
  padding: 18px;
  display: flex;
  flex-direction: column;
  justify-content: space-between;
  border: 1px solid rgba(255, 255, 255, 0.22);
  border-radius: var(--radius);
  background: rgba(7, 20, 22, 0.5);
  backdrop-filter: blur(10px);
}

.metric-value {
  font-variant-numeric: tabular-nums;
  font-size: clamp(2rem, 4vw, 3.2rem);
  font-weight: 850;
  line-height: 1;
}

.metric-label {
  color: rgba(255, 255, 255, 0.76);
  font-size: 0.88rem;
}

.section {
  padding: clamp(76px, 9vw, 124px) clamp(20px, 5vw, 70px);
  border-top: 1px solid var(--line);
}

.section.compact {
  padding-top: 64px;
  padding-bottom: 76px;
}

.section-heading {
  max-width: 980px;
  margin: 0 auto 34px;
}

.section-heading.narrow {
  max-width: 800px;
  text-align: center;
}

.section-heading h2,
.section-copy h2 {
  max-width: 860px;
  margin-bottom: 16px;
  font-size: clamp(2rem, 4vw, 4.2rem);
  line-height: 1;
  letter-spacing: 0;
}

.section-heading p,
.section-copy p {
  max-width: 760px;
  color: var(--muted);
  font-size: 1.05rem;
}

.section-heading.narrow p {
  margin-left: auto;
  margin-right: auto;
}

.summary-grid,
.method-steps,
.results-grid,
.video-grid {
  max-width: 1120px;
  margin: 0 auto;
}

.summary-grid {
  display: grid;
  grid-template-columns: repeat(3, minmax(0, 1fr));
  gap: 16px;
}

.summary-item,
.method-steps article,
.result-cards article {
  min-height: 178px;
  padding: 22px;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: var(--surface);
}

.result-cards article {
  min-height: 118px;
  padding: 18px;
}

.summary-item h3,
.method-steps h3,
.result-cards h3 {
  margin-bottom: 10px;
  font-size: 1.05rem;
}

.summary-item p,
.method-steps p,
.result-cards p {
  margin-bottom: 0;
  color: var(--muted);
}

.schedule-figure {
  max-width: 1120px;
  margin: 34px auto 0;
}

.schedule-figure img {
  width: 100%;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: #ffffff;
  box-shadow: var(--shadow);
}

.split {
  display: grid;
  grid-template-columns: minmax(280px, 0.78fr) minmax(420px, 1.22fr);
  gap: clamp(30px, 5vw, 72px);
  align-items: center;
}

.section-copy {
  max-width: 640px;
  justify-self: end;
}

.media-panel,
.wide-figure,
.video-grid figure {
  margin: 0;
}

.media-panel img,
.wide-figure img,
.video-grid img {
  width: 100%;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: #ffffff;
  box-shadow: var(--shadow);
}

figcaption {
  margin-top: 12px;
  color: var(--muted);
  font-size: 0.92rem;
}

.wide-figure {
  max-width: 1120px;
  margin: 0 auto 24px;
}

.compact-figure {
  margin-top: 34px;
}

.method-steps {
  display: grid;
  grid-template-columns: repeat(4, minmax(0, 1fr));
  gap: 14px;
}

.step-number {
  display: block;
  margin-bottom: 18px;
  color: var(--amber);
  font-size: 0.9rem;
  font-weight: 850;
}

.results-grid {
  display: grid;
  grid-template-columns: minmax(420px, 1.35fr) minmax(280px, 0.65fr);
  gap: 16px;
  align-items: start;
}

.result-plot {
  position: relative;
}

.result-cards {
  display: grid;
  gap: 12px;
  align-content: start;
}

.result-note {
  margin: 0;
  padding: 16px 18px;
  border-left: 4px solid var(--teal);
  border-radius: var(--radius);
  color: var(--ink);
  background: rgba(15, 118, 110, 0.08);
}

.result-cards strong {
  color: var(--teal-dark);
  font-weight: 850;
}

.table-wrap {
  max-width: 1120px;
  overflow-x: auto;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: var(--surface);
}

.evidence-grid {
  max-width: 1120px;
  margin: 32px auto 0;
  display: grid;
  grid-template-columns: minmax(520px, 1fr) minmax(280px, 360px);
  gap: 18px;
  align-items: start;
}

table {
  width: 100%;
  border-collapse: collapse;
  min-width: 700px;
}

th,
td {
  padding: 15px 18px;
  text-align: left;
  border-bottom: 1px solid var(--line);
}

th {
  color: var(--steel);
  font-size: 0.82rem;
  letter-spacing: 0.04em;
  text-transform: uppercase;
}

td:nth-child(2),
td:nth-child(3) {
  font-variant-numeric: tabular-nums;
  font-weight: 750;
}

tr:last-child td {
  border-bottom: 0;
}

.highlight-row {
  background: rgba(15, 118, 110, 0.08);
}

.ablation-panel {
  margin: 0;
}

.ablation-panel img {
  width: 100%;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: #ffffff;
  box-shadow: var(--shadow);
}

.video-grid {
  display: grid;
  grid-template-columns: 1.1fr 0.9fr;
  gap: 20px;
  align-items: start;
}

.robot-video-grid {
  max-width: 1120px;
  margin: 0 auto;
  display: grid;
  grid-template-columns: repeat(4, minmax(0, 1fr));
  gap: 16px;
}

.robot-video-card {
  min-width: 0;
}

.robot-video-card:first-child {
  grid-column: span 2;
}

.robot-video-frame {
  position: relative;
  overflow: hidden;
  border-radius: var(--radius);
}

.robot-video {
  display: block;
  width: 100%;
  aspect-ratio: 16 / 9;
  border: 1px solid rgba(75, 100, 117, 0.32);
  border-radius: var(--radius);
  background: #1f2328;
  box-shadow: var(--shadow);
  object-fit: cover;
}

.robot-video-load {
  position: absolute;
  inset: 0;
  display: flex;
  align-items: center;
  justify-content: center;
  gap: 10px;
  border: 0;
  color: #ffffff;
  background: linear-gradient(180deg, rgba(31, 35, 40, 0.05), rgba(31, 35, 40, 0.46));
  cursor: pointer;
  font: inherit;
  font-weight: 850;
}

.robot-video-load::before {
  width: 0;
  height: 0;
  content: "";
  border-top: 12px solid transparent;
  border-bottom: 12px solid transparent;
  border-left: 18px solid #ffffff;
  filter: drop-shadow(0 2px 8px rgba(0, 0, 0, 0.38));
}

.robot-video-load span {
  padding: 8px 12px;
  border-radius: var(--radius);
  background: rgba(31, 35, 40, 0.58);
  box-shadow: 0 10px 24px rgba(0, 0, 0, 0.2);
}

.robot-video-load:hover,
.robot-video-load:focus-visible {
  background: linear-gradient(180deg, rgba(15, 118, 110, 0.08), rgba(31, 35, 40, 0.58));
}

.robot-video-frame.is-loaded .robot-video-load {
  display: none;
}

.platform {
  margin: 12px 0 4px;
  color: var(--steel);
  font-size: 0.78rem;
  font-weight: 800;
  letter-spacing: 0.06em;
  text-transform: uppercase;
}

.robot-video-card h3 {
  margin-bottom: 0;
  font-size: 1.05rem;
}

.citation {
  background: #eef2ed;
}

pre {
  max-width: 760px;
  margin: 0 auto;
  overflow-x: auto;
  padding: 22px;
  color: #ffffff;
  background: #20262a;
  border-radius: var(--radius);
}

code {
  font-family: "SFMono-Regular", Consolas, "Liberation Mono", monospace;
  font-size: 0.92rem;
}

@media (max-width: 1000px) {
  .site-nav {
    grid-template-columns: auto auto;
  }

  .nav-links {
    display: none;
  }

  .nav-actions {
    justify-content: end;
  }

  .hero,
  .split,
  .results-grid,
  .evidence-grid,
  .video-grid,
  .robot-video-grid {
    grid-template-columns: 1fr;
  }

  .robot-video-card:first-child {
    grid-column: span 1;
  }

  .hero {
    min-height: auto;
    padding-top: 110px;
  }

  .section-copy {
    max-width: 760px;
    justify-self: start;
  }

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

@media (max-width: 680px) {
  .site-nav {
    padding: 12px 16px;
  }

  .nav-actions .button {
    min-height: 32px;
    padding: 0 10px;
    font-size: 0.82rem;
  }

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

  h1 {
    font-size: clamp(4.4rem, 24vw, 6.5rem);
  }

  .metric-grid,
  .summary-grid,
  .method-steps {
    grid-template-columns: 1fr;
  }

  .metric {
    min-height: 94px;
  }

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

  .section-heading h2,
  .section-copy h2 {
    font-size: clamp(1.9rem, 11vw, 3rem);
  }

  table {
    min-width: 640px;
  }
}