:root {
  color-scheme: light;
  --ink: #202124;
  --muted: #73767b;
  --accent: #a9524a;
  --accent-hover: #8f433d;
  --rose: #b65d55;
  --band: #f5f5f7;
  font-family: Arial, Helvetica, sans-serif;
}

* { box-sizing: border-box; }

html {
  scroll-behavior: smooth;
  scroll-padding-top: 24px;
}

body {
  margin: 0;
  background: #fff;
  color: var(--ink);
  -webkit-font-smoothing: antialiased;
  text-rendering: optimizeLegibility;
}

a { color: inherit; }
a:focus-visible { outline: 3px solid #ebae63; outline-offset: 4px; }

.hero {
  width: min(1080px, calc(100% - 40px));
  margin: 0 auto;
  padding: 72px 0 0;
  text-align: center;
}

.wordmark {
  display: inline-block;
  color: var(--rose);
  font-size: 25px;
  font-weight: 700;
  letter-spacing: .1em;
  text-decoration: none;
}

.hero h1 {
  max-width: 930px;
  margin: 29px auto 0;
  font-size: clamp(40px, 5.1vw, 64px);
  font-weight: 700;
  letter-spacing: -.055em;
  line-height: 1.1;
}

.title-initial { color: var(--rose); }

.hero-subtitle {
  max-width: 760px;
  margin: 23px auto 0;
  color: var(--muted);
  font-size: clamp(18px, 2vw, 24px);
  line-height: 1.48;
}

.venue {
  display: flex;
  justify-content: center;
  align-items: center;
  gap: 8px;
  margin: 18px 0 0;
  font-size: 14px;
  color: var(--muted);
}

.venue strong { color: var(--rose); font-weight: 700; }
.venue strong span { margin-right: 3px; }
.venue-separator { color: #b1b3b6; }

.authors {
  max-width: 970px;
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 5px 0;
  margin: 29px auto 0;
  font-size: 15px;
  line-height: 1.65;
}

.authors > span { white-space: nowrap; }
.authors > span:not(:last-child)::after {
  content: "";
  display: inline-block;
  width: 12px;
}

.authors a {
  text-decoration-color: #c7c9cd;
  text-underline-offset: 3px;
}
.authors a:hover { color: var(--accent); }
.authors sup, .affiliations sup, .author-notes sup { font-size: .68em; color: var(--rose); }

.affiliations {
  margin: 4px 0 0;
  color: var(--muted);
  font-size: 14px;
}
.affiliations > span { margin: 0 5px; color: #b6b8bb; }

.author-notes {
  margin: 7px 0 0;
  color: var(--muted);
  font-size: 13px;
}
.author-notes > span { margin: 0 5px; color: #b6b8bb; }

.hero-links {
  display: flex;
  justify-content: center;
  align-items: center;
  flex-wrap: wrap;
  gap: 27px;
  margin: 31px 0 0;
}

.hero-links a {
  color: var(--accent);
  font-size: 15px;
  text-decoration: none;
}
.hero-links a:hover { color: var(--accent-hover); }
.hero-links .coming-soon { color: var(--muted); font-size: 15px; }
.hero-links a > span { margin-left: 3px; font-size: 20px; vertical-align: -1px; }

.hero-links .primary-link {
  min-height: 47px;
  display: inline-flex;
  align-items: center;
  justify-content: center;
  gap: 8px;
  padding: 0 23px;
  border-radius: 999px;
  background: var(--accent);
  color: #fff;
}
.hero-links .primary-link:hover { background: var(--accent-hover); color: #fff; }
.hero-links .primary-link > span { margin: 0; }

.demo-section {
  width: min(970px, calc(100% - 40px));
  margin: 43px auto 0;
}

.demo-figure { margin: 0; }

.demo-video {
  display: block;
  width: 100%;
  aspect-ratio: 16 / 9;
  border-radius: 20px;
  background: #ededf0;
  object-fit: contain;
}

.demo-figure figcaption {
  margin: 14px auto 0;
  color: var(--muted);
  font-size: 14px;
  line-height: 1.6;
  text-align: center;
}

.paper-content {
  width: min(970px, calc(100% - 48px));
  margin: 68px auto 0;
}
.paper-section { padding: 50px 0 54px; border-top: 1px solid #e4e5e8; }
.paper-section h2 {
  margin: 0 0 25px;
  text-align: center;
  font-size: clamp(28px, 3.3vw, 36px);
  line-height: 1.2;
  letter-spacing: -.035em;
}
.paper-section h3 { font-size: 19px; line-height: 1.4; margin: 0 0 12px; letter-spacing: -.015em; }
.paper-section p { font-size: 16px; line-height: 1.75; color: #414348; }
.reading-copy { max-width: 820px; margin: 0 auto; }
.reading-copy p { margin: 0; }
.section-lead { max-width: 820px; margin: -7px auto 25px; text-align: center; }
.paper-section .section-label {
  margin: 0 0 9px;
  text-align: center;
  color: var(--rose);
  font-size: 13px;
  font-weight: 600;
  letter-spacing: .045em;
}
.paper-figure { width: 100%; margin: 30px auto 0; }
.paper-figure img { display: block; width: 100%; height: auto; }
.paper-figure figcaption {
  margin: 14px auto 0;
  color: #65686d;
  font-size: 14px;
  line-height: 1.7;
  text-align: left;
}
.paper-figure figcaption strong { color: #414348; }
.control-roles { margin-top: 26px; }
.control-roles p, .control-roles li { font-size: 16px; line-height: 1.75; color: #414348; }
.control-roles p { margin: 0; }
.control-roles ol { margin: 12px 0 0; padding-left: 26px; }
.control-roles li { padding-left: 3px; }
.control-roles li + li { margin-top: 8px; }
.control-roles li::marker { content: counter(list-item) ") "; font-weight: 700; color: var(--ink); }
.control-roles strong { color: var(--ink); }
.control-roles a { color: inherit; text-decoration: underline; text-decoration-color: #c8b4ae; text-decoration-thickness: 1px; text-underline-offset: 4px; }
.control-roles a:hover { color: var(--accent); text-decoration-color: currentColor; }
.control-roles a:focus-visible { outline: 2px solid var(--accent); outline-offset: 4px; border-radius: 2px; }
#method { padding-bottom: 26px; }
#method + .paper-section { padding-top: 26px; }
.table-scroll { width: 100%; margin-top: 25px; overflow-x: auto; }
.paper-table { width: 100%; border-collapse: collapse; font-size: 14px; line-height: 1.5; font-variant-numeric: tabular-nums; }
.paper-table caption { padding: 0 0 12px; text-align: left; font-size: 15px; font-weight: 600; color: #34363b; }
.paper-table thead { border-top: 1px solid #b7bcc4; border-bottom: 1px solid #b7bcc4; }
.paper-table tbody { border-bottom: 1px solid #b7bcc4; }
.paper-table th, .paper-table td { padding: 10px 12px; text-align: right; }
.paper-table thead th { font-weight: 600; color: #484c53; }
.paper-table th:first-child { text-align: left; }
.paper-table tbody th { max-width: 245px; font-weight: 400; }
.paper-table td { white-space: nowrap; }
.paper-table .ours-row { background: #f7eeeb; }
.paper-table .ours-row th, .paper-table .ours-row td { font-weight: 700; color: var(--accent); }
.paper-section .table-note { font-size: 12px; line-height: 1.6; color: var(--muted); margin: 10px 0 0; }
.evidence-pair { display: grid; grid-template-columns: 1fr 1fr; gap: 38px; align-items: start; margin-top: 36px; }
.evidence-pair .paper-figure { margin: 0; }
.evidence-pair .paper-figure img { max-width: 420px; margin: 0 auto; }
.experiment-copy p { margin: 0 0 18px; }
.experiment-copy .context-note { font-size: 14px; color: var(--muted); }
.crowd-context { align-items: center; }
.maze-results-pair { display: grid; grid-template-columns: minmax(0, 1fr) minmax(0, 1.12fr); gap: 16px; align-items: center; }
.maze-results-pair picture { display: block; min-width: 0; }
.maze-trajectory-crop { width: 100%; aspect-ratio: 750 / 410; overflow: hidden; }
.maze-trajectory-crop img { width: 199.333333%; max-width: none; height: auto; }
@media (max-width: 600px) {
  .maze-results-pair { grid-template-columns: 1fr; gap: 20px; }
}
.robot-setup { max-width: 620px; }
.robot-setup img { border-radius: 10px; }
.experiment-subsection { margin-top: 40px; }
.experiment-subsection > p { max-width: 820px; margin: 0; }
.paper-details { border-top: 1px solid #e4e5e8; margin-top: 30px; padding-top: 20px; }
.paper-details summary { color: var(--accent); cursor: pointer; font-size: 16px; font-weight: 600; line-height: 1.5; }
.paper-details .paper-figure { max-width: 760px; }
.paper-details > p { max-width: 820px; margin: 20px auto 0; }
.limitations-section { padding-bottom: 48px; }

.site-footer {
  display: flex;
  justify-content: center;
  align-items: center;
  gap: 20px;
  padding: 28px 20px 34px;
  color: var(--muted);
  font-size: 13px;
}

.site-footer a { color: var(--accent); text-decoration: none; }
.site-footer a:hover { text-decoration: underline; }

@media (max-width: 700px) {
  .hero { padding-top: 46px; }
  .hero h1 { margin-top: 22px; letter-spacing: -.045em; }
  .wide-break { display: none; }
  .authors { max-width: 520px; font-size: 14px; }
  .authors > span:not(:last-child)::after { width: 8px; }
  .hero-links { gap: 18px; margin-top: 26px; }
  .demo-section { margin-top: 34px; }
  .demo-video { border-radius: 14px; }
  .paper-content { width: calc(100% - 36px); margin-top: 48px; }
  .paper-section { padding: 38px 0 42px; }
  .paper-section h2 { margin-bottom: 22px; }
  .evidence-pair { grid-template-columns: 1fr; gap: 24px; }
  .paper-table th, .paper-table td { padding: 9px 10px; }
  .paper-table tbody th { min-width: 150px; }
  .paper-table thead th:not(:first-child) { min-width: 110px; }
  .paper-figure figcaption { font-size: 13px; }
  .experiment-subsection { margin-top: 32px; }
  .evidence-pair .paper-figure img { max-width: 420px; }

}

@media (max-width: 440px) {
  .hero { width: calc(100% - 32px); }
  .venue { font-size: 13px; }
  .authors { margin-top: 22px; }
  .hero-links { gap: 14px; }
  .hero-links a, .hero-links .coming-soon { font-size: 14px; }
  .hero-links .primary-link { min-height: 43px; padding: 0 16px; }
  .demo-section { width: calc(100% - 28px); }
  .demo-figure figcaption { font-size: 13px; }
  .site-footer { flex-direction: column; gap: 9px; }
}

/* Real-robot results and embedded trial videos. */
.robot-results { display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 24px; margin-top: 38px; }
.robot-results .paper-figure { margin: 0; }
.robot-results-note { text-align: center; }
.robot-video-grid { display: grid; grid-template-columns: repeat(3, minmax(0, 1fr)); gap: 26px 20px; margin-top: 20px; }
.robot-clip { margin: 0; min-width: 0; }
.robot-clip video { display: block; width: 100%; height: auto; aspect-ratio: 1; object-fit: contain; border-radius: 9px; background: #f1f2f4; }
.dynamic-videos video { aspect-ratio: 9 / 16; }
.robot-clip figcaption { margin-top: 10px; text-align: center; font-size: 13px; line-height: 1.5; color: #65686d; }
.robot-clip figcaption strong { display: block; color: #202124; font-size: 14px; }
.robot-clip figcaption span { display: block; margin-top: 2px; }
@media (max-width: 700px) {
  .robot-results { grid-template-columns: 1fr; gap: 20px; }
  .robot-results .paper-figure { max-width: 520px; }
  .robot-video-grid { grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 22px 14px; }
  .dynamic-videos { grid-template-columns: repeat(3, minmax(0, 1fr)); gap: 10px; }
  .dynamic-videos .robot-clip figcaption, .dynamic-videos .robot-clip figcaption strong { font-size: 11px; }
}
@media (max-width: 440px) {
  .static-videos { grid-template-columns: 1fr; }
  .dynamic-videos { grid-template-columns: 1fr; max-width: 280px; margin-inline: auto; gap: 24px; }
  .dynamic-videos .robot-clip figcaption { font-size: 13px; }
  .dynamic-videos .robot-clip figcaption strong { font-size: 14px; }
}

/* Four Blender-rendered Maze2D planners, with shared simulation-time playback. */
.maze-comparison { width: min(100%, max(512px, calc(100svh - 278px))); margin: 22px auto 0; scroll-margin-top: 16px; }
.maze-playback { display: flex; flex-wrap: wrap; align-items: center; gap: 12px; margin-bottom: 12px; }
.maze-playback[hidden] { display: none; }
.maze-playback button, .maze-clip-actions button { border: 0; background: none; padding: 6px 0; font: inherit; font-size: 13px; color: var(--accent); cursor: pointer; }
.maze-playback button:focus-visible, .maze-clip-actions button:focus-visible { outline: 2px solid var(--accent); outline-offset: 4px; }
.maze-mode { display: flex; gap: 4px; border-radius: 24px; background: var(--band); padding: 4px; }
.maze-mode button { padding: 7px 13px; border-radius: 20px; color: var(--muted); }
.maze-mode button[aria-pressed="true"] { background: #fff; color: var(--ink); box-shadow: 0 1px 4px #0000000c; }
.maze-playback input { min-width: 100px; flex: 1; accent-color: var(--accent); }
.maze-playback span { color: var(--muted); font-size: 11px; }
.maze-planner-grid { display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 10px 48px; }
.maze-planner { min-width: 0; }
.maze-planner h3 { margin-bottom: 2px; font-size: 17px; }
.maze-planner.maze-ours h3 { color: var(--accent); }
.maze-planner p { margin: 0 0 2px; color: var(--muted); font-size: 11px; line-height: 1.5; }
.maze-planner video { width: 100%; height: auto; aspect-ratio: 1; object-fit: contain; display: block; background: #fff; }
.maze-clip-actions { min-height: 28px; }
.maze-legend { display: flex; justify-content: center; flex-wrap: wrap; gap: 8px 16px; margin-top: 12px; color: var(--muted); font-size: 11px; line-height: 1.5; }
.maze-legend > span { display: inline-flex; align-items: center; gap: 6px; }
.maze-key { display: inline-block; width: 24px; height: 0; border-top: 2px solid #515761; flex-shrink: 0; }
.maze-key-rollouts { height: 5px; border-top: 1px solid #a0a5ae; border-bottom: 1px solid #cd948b; }
.maze-key-executed { height: 5px; border-top: 2px solid #515761; border-bottom: 2px solid #ac5147; }
.maze-key-tube { height: 10px; border: 1px solid #dfc2bb; border-radius: 50%; background: #fcf7f5; }
.maze-key-colliding { border-color: #d6a2b0; }
.maze-key-plan { border-top: 2px dashed #232a32; }
.maze-key-contact { border-color: #c12850; }
.paper-section .maze-comparison-note { margin: 12px 0 0; font-size: 12px; line-height: 1.7; color: var(--muted); }
.maze-efficiency { max-width: 640px; margin-top: 30px; }
@media (max-width: 680px) {
  .maze-comparison { width: 100%; }
  .maze-planner-grid { gap: 12px; }
  .maze-planner p { min-height: 33px; }
  .maze-playback { gap: 12px; }
  .maze-playback input { order: 2; flex-basis: 100%; }
  .maze-playback span { margin-left: auto; }
  .maze-clip-actions:empty { display: none; }
}
@media (prefers-reduced-motion: reduce) { html { scroll-behavior: auto; } }

/* Paired Y-corridor replay, with compact HTML labels outside the footage. */
.crowd-comparison { margin-top: 28px; }
.crowd-playback { display: flex; gap: 22px; align-items: center; flex-wrap: wrap; margin-bottom: 22px; }
.crowd-playback[hidden] { display: none; }
.crowd-playback button { font: inherit; font-size: 13px; color: var(--accent); padding: 6px 0; border: 0; background: none; cursor: pointer; }
.crowd-playback button:focus-visible { outline: 2px solid var(--accent); outline-offset: 4px; }
.crowd-playback [role="status"] { font-size: 12px; color: var(--muted); }
.crowd-playback [role="status"]:empty { display: none; }
.crowd-video-grid { display: grid; grid-template-columns: repeat(2,minmax(0,1fr)); gap: 32px; }
.crowd-planner { min-width: 0; }
.crowd-video-heading { display: flex; justify-content: space-between; gap: 12px; align-items: start; min-height: 55px; padding: 0 4px; }
.crowd-video-heading h3 { font-size: 19px; margin: 0 0 5px; }
.crowd-ours h3 { color: var(--accent); }
.crowd-execution { font-size: 12px; color: var(--muted); }
.crowd-video-state { display: flex; flex-direction: column; align-items: end; gap: 5px; font-size: 12px; color: var(--muted); font-variant-numeric: tabular-nums; white-space: nowrap; }
.crowd-outcome { color: var(--accent); }
.crowd-outcome:empty { display: none; }
.crowd-planner video { display: block; width: 100%; height: auto; aspect-ratio: 900 / 636; background: white; }
.crowd-comparison + .crowd-results { margin-top: 38px; }
@media (max-width: 650px) {
  .crowd-video-grid { grid-template-columns: 1fr; gap: 26px; }
  .crowd-playback { gap: 18px; margin-bottom: 18px; }
  .crowd-video-heading h3 { font-size: 18px; }
}

.paper-section .crowd-collision-note { margin: 16px 4px 0; color: var(--muted); font-size: 13px; line-height: 1.65; }
.crowd-collision-note[hidden] { display: none; }