:root {
  --ink: #171b1f;
  --ink-soft: #4f5962;
  --ink-faint: #76818a;
  --paper: #ffffff;
  --wash: #f5f8f8;
  --line: #dce4e5;
  --line-strong: #bdcbcd;
  --perception: #18758a;
  --perception-soft: #e5f2f4;
  --contact: #bd5035;
  --contact-soft: #faebe6;
  --max-width: 1160px;
  --text-width: 860px;
  --shadow: 0 18px 55px rgba(30, 53, 57, 0.1);
}

* { box-sizing: border-box; }

html {
  scroll-behavior: smooth;
  scroll-padding-top: 92px;
}

body {
  margin: 0;
  background: var(--paper);
  color: var(--ink);
  font-family: Inter, ui-sans-serif, -apple-system, BlinkMacSystemFont, "Segoe UI", sans-serif;
  font-size: 16px;
  line-height: 1.7;
  -webkit-font-smoothing: antialiased;
}

body, button, a { text-rendering: optimizeLegibility; }
a { color: inherit; }
img, video { max-width: 100%; }
svg { fill: none; stroke: currentColor; stroke-linecap: round; stroke-linejoin: round; stroke-width: 1.8; }

.skip-link {
  position: fixed;
  top: 10px;
  left: 10px;
  z-index: 200;
  transform: translateY(-160%);
  background: var(--ink);
  color: #fff;
  padding: 9px 14px;
  text-decoration: none;
}
.skip-link:focus { transform: none; }

.page-width,
.text-width {
  width: min(calc(100% - 48px), var(--max-width));
  margin-inline: auto;
}
.text-width { max-width: var(--text-width); }

.site-nav {
  position: sticky;
  top: 0;
  z-index: 100;
  background: rgba(255, 255, 255, 0.94);
  border-bottom: 1px solid rgba(220, 228, 229, 0.9);
  backdrop-filter: blur(16px);
  -webkit-backdrop-filter: blur(16px);
}

.nav-inner {
  width: min(calc(100% - 48px), var(--max-width));
  min-height: 64px;
  margin-inline: auto;
  display: flex;
  align-items: center;
  justify-content: space-between;
  gap: 28px;
}

.nav-brand {
  display: inline-flex;
  align-items: center;
  gap: 10px;
  color: var(--ink);
  font-size: 0.88rem;
  font-weight: 800;
  letter-spacing: 0.14em;
  text-decoration: none;
}

.nav-brand img {
  display: block;
  width: auto;
  height: 32px;
}

.brand-mark {
  width: 26px;
  height: 20px;
  display: inline-flex;
  align-items: center;
  justify-content: space-between;
  border-top: 2px solid var(--perception);
  border-bottom: 2px solid var(--perception);
}
.brand-mark i { width: 5px; height: 10px; background: var(--contact); }

.nav-links { display: flex; align-items: center; gap: 4px; }
.nav-links a {
  color: var(--ink-soft);
  padding: 8px 12px;
  font-size: 0.84rem;
  font-weight: 600;
  text-decoration: none;
}
.nav-links a:hover,
.nav-links a:focus-visible { color: var(--perception); }

.hero {
  padding: clamp(72px, 9vw, 120px) 0 96px;
  border-bottom: 1px solid var(--line);
}

.hero-content { text-align: center; }

.venue-line,
.section-label,
.placeholder-kicker {
  margin: 0 0 19px;
  color: var(--perception);
  font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace;
  font-size: 0.74rem;
  font-weight: 700;
  letter-spacing: 0.12em;
  text-transform: uppercase;
}

.hero h1 {
  max-width: 1020px;
  margin: 0 auto 30px;
  font-size: clamp(2.1rem, 4.8vw, 4.2rem);
  line-height: 1.07;
  letter-spacing: -0.055em;
}
.title-line {
  display: block;
}
.project-name {
  position: relative;
  display: inline-block;
  isolation: isolate;
  color: var(--perception);
}

.project-name::before {
  content: "";
  position: absolute;

  width: 360px;
  height: 280px;

  left: 50%;
  top: 50%;
  transform: translate(-100%, -50%);

  background: url("../images/logo.png") center / contain no-repeat;
  opacity: 0.4;

  pointer-events: none;
  z-index: -1;
}
.title-tail { display: block; }

.authors {
  margin: 0 auto 9px;
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 4px 22px;
  font-size: 1.04rem;
  font-weight: 600;
}

.affiliation { margin: 0; color: var(--ink-soft); line-height: 1.55; }
.author-note { margin: 10px 0 0; color: var(--ink-faint); font-size: 0.82rem; }

.publication-links {
  margin-top: 30px;
  display: flex;
  justify-content: center;
  flex-wrap: wrap;
  gap: 10px;
}

.publication-button {
  min-height: 45px;
  display: inline-flex;
  align-items: center;
  gap: 9px;
  padding: 10px 17px;
  border: 1px solid var(--ink);
  background: var(--ink);
  color: #fff;
  font-size: 0.88rem;
  font-weight: 700;
  text-decoration: none;
  transition: transform 160ms ease, background-color 160ms ease;
}
.publication-button svg { width: 18px; height: 18px; }
.publication-button:hover { transform: translateY(-2px); background: #2b343a; }
.publication-button.is-disabled {
  border-color: var(--line-strong);
  background: #fff;
  color: var(--ink-soft);
  cursor: default;
}
.publication-button.is-disabled:hover { transform: none; }
.publication-button small {
  margin-left: 2px;
  color: var(--ink-faint);
  font-size: 0.62rem;
  font-weight: 700;
  letter-spacing: 0.05em;
  text-transform: uppercase;
}

.tldr {
  max-width: 840px;
  margin: 50px auto 28px;
  display: grid;
  grid-template-columns: auto 1fr;
  gap: 18px;
  align-items: start;
  padding: 20px 0;
  border-top: 1px solid var(--line-strong);
  border-bottom: 1px solid var(--line-strong);
  text-align: left;
}
.tldr > span {
  color: var(--perception);
  font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace;
  font-size: 0.73rem;
  font-weight: 800;
  letter-spacing: 0.1em;
}
.tldr p { margin: -3px 0 0; color: var(--ink); font-size: 1.08rem; line-height: 1.62; }

.section { padding: clamp(76px, 9vw, 120px) 0; }
.section-tinted { background: var(--wash); }
.section-label { margin-bottom: 12px; }
.section-label::before { content: ""; display: inline-block; width: 26px; height: 2px; margin: 0 10px 3px 0; background: currentColor; }
.section-label.is-contact { color: var(--contact); }

h2, h3, p { overflow-wrap: break-word; }
h2 {
  max-width: 850px;
  margin: 0 0 22px;
  font-size: clamp(2rem, 4.3vw, 3.45rem);
  line-height: 1.12;
  letter-spacing: -0.045em;
}
h3 { margin: 0; font-size: 1.08rem; line-height: 1.35; }
.section-intro { max-width: 680px; margin: 0 0 44px; color: var(--ink-soft); font-size: 1.1rem; }
.contact-text { color: var(--contact); }

.abstract-copy {
  margin-top: 38px;
  padding-left: 30px;
  border-left: 3px solid var(--perception);
}
.abstract-copy p { margin: 0; color: var(--ink-soft); font-size: 1.06rem; line-height: 1.82; }
.abstract-copy p + p { margin-top: 22px; }

.uncertainty-grid {
  display: grid;
  grid-template-columns: 1fr 1fr;
  gap: clamp(30px, 6vw, 78px);
  margin-top: 54px;
}
.uncertainty { padding: 26px 0 0; border-top: 3px solid var(--perception); }
.uncertainty.contact-block { border-top-color: var(--contact); }
.phase {
  margin: 0 0 7px;
  color: var(--perception);
  font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace;
  font-size: 0.72rem;
  font-weight: 700;
  letter-spacing: 0.09em;
  text-transform: uppercase;
}
.contact-block .phase { color: var(--contact); }
.uncertainty h3 { font-size: 1.35rem; }
.uncertainty ul { margin: 17px 0 0; padding: 0; list-style: none; columns: 2; column-gap: 20px; }
.uncertainty li { position: relative; break-inside: avoid; margin: 0 0 8px; padding-left: 16px; color: var(--ink-soft); }
.uncertainty li::before { content: ""; position: absolute; left: 0; top: 0.73em; width: 6px; height: 2px; background: var(--perception); }
.contact-block li::before { background: var(--contact); }

.handover-flow {
  margin: 68px 0;
  padding: 34px clamp(18px, 4vw, 48px);
  background: #fff;
  border: 1px solid var(--line);
  box-shadow: var(--shadow);
}
.handover-flow img { width: 100%; height: auto; display: block; }

.feature-list { display: grid; grid-template-columns: repeat(3, 1fr); gap: 34px; }
.feature-list article { display: grid; grid-template-columns: auto 1fr; gap: 15px; align-items: start; }
.feature-number { color: var(--perception); font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace; font-size: 0.72rem; font-weight: 800; }
.feature-number.is-contact { color: var(--contact); }
.feature-list p { margin: 8px 0 0; color: var(--ink-soft); font-size: 0.93rem; line-height: 1.65; }

figure { margin: 0; }
figcaption { margin-top: 12px; color: var(--ink-faint); font-size: 0.82rem; line-height: 1.55; }

.media-slot {
  position: relative;
  display: grid;
  place-items: center;
  overflow: hidden;
  background: #f3f6f6;
  border: 1px solid var(--line);
}
.media-slot img,
.media-slot video { width: 100%; height: 100%; display: block; object-fit: contain; background: #fff; }
.hero-media img,
.hero-media video,
.demo-media video { object-fit: cover; }
.hero-media { min-height: clamp(320px, 55vw, 650px); box-shadow: var(--shadow); }
.pipeline-media { margin-top: 44px; }
.pipeline-media img { height: auto; }
.tactile-media { aspect-ratio: 4 / 3; }
.hardware-media { min-height: 390px; }
.evaluation-media img { height: auto; }
.demo-media { aspect-ratio: 16 / 10; }

.media-placeholder {
  max-width: 92%;
  display: flex;
  flex-direction: column;
  align-items: center;
  justify-content: center;
  gap: 7px;
  padding: 34px 20px;
  color: var(--ink-faint);
  text-align: center;
}
.media-placeholder::before,
.media-placeholder::after {
  content: "";
  display: block;
  width: 48px;
  height: 15px;
  border-top: 2px solid var(--perception);
  border-bottom: 2px solid var(--perception);
}
.media-placeholder::after { width: 22px; margin-top: 7px; border-color: var(--contact); }
.media-placeholder .placeholder-kicker { margin: 12px 0 0; color: var(--perception); }
.media-placeholder strong { color: var(--ink); font-size: 1.05rem; }
.media-placeholder > span:last-child { font-size: 0.8rem; }
.media-placeholder code { font-size: 0.75rem; }

.method-stages {
  margin-top: 70px;
  display: grid;
  grid-template-columns: 1fr 1fr;
  gap: 50px 56px;
}
.method-stages article { position: relative; padding: 24px 0 0 54px; border-top: 1px solid var(--line-strong); }
.method-stages article > span { position: absolute; top: 25px; left: 0; color: var(--perception); font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace; font-size: 0.78rem; font-weight: 800; }
.method-stages p { margin: 10px 0 0; color: var(--ink-soft); font-size: 0.94rem; }

.subsection { margin-top: clamp(90px, 12vw, 150px); padding-top: clamp(62px, 8vw, 90px); border-top: 1px solid var(--line); }
.subsection-heading { max-width: 860px; }
.subsection-heading > p:last-child { color: var(--ink-soft); font-size: 1.02rem; }
.paired-media { margin-top: 42px; display: grid; grid-template-columns: 1fr 1fr; gap: 24px; }

.hardware-subsection { display: grid; grid-template-columns: 0.72fr 1.28fr; gap: clamp(40px, 7vw, 82px); align-items: start; }
.hardware-list { margin: 34px 0 0; padding: 0; list-style: none; border-top: 1px solid var(--line); }
.hardware-list li { display: flex; gap: 16px; padding: 13px 0; border-bottom: 1px solid var(--line); font-weight: 600; }
.hardware-list span { color: var(--perception); font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace; font-size: 0.72rem; }

.evaluation-overview { margin-top: 48px; display: grid; grid-template-columns: 0.8fr 1.2fr; gap: clamp(35px, 7vw, 78px); align-items: center; }
.object-groups { display: grid; gap: 36px; }
.object-groups > div { padding-top: 19px; border-top: 2px solid var(--perception); }
.object-groups > div:last-child { border-top-color: var(--line-strong); }
.object-groups p { margin: 10px 0 3px; color: var(--ink-soft); }
.object-groups p span { color: var(--line-strong); margin: 0 4px; }
.object-groups small { display: block; color: var(--ink-faint); line-height: 1.55; }

.table-shell {
  margin-top: 62px;
  overflow-x: auto;
  background: #fff;
  border: 1px solid var(--line);
  box-shadow: 0 14px 36px rgba(30, 53, 57, 0.07);
}
.table-shell:focus-visible { outline: 3px solid rgba(24, 117, 138, 0.25); outline-offset: 3px; }
table { width: 100%; min-width: 1320px; border-collapse: collapse; font-variant-numeric: tabular-nums; }
caption { padding: 19px 20px; color: var(--ink); font-size: 0.88rem; font-weight: 700; text-align: left; }
th, td { padding: 13px 14px; border-top: 1px solid var(--line); text-align: center; white-space: nowrap; }
thead th { color: var(--ink-soft); background: #f7f9f9; font-size: 0.71rem; line-height: 1.3; }
.column-groups th { color: var(--perception); font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace; font-size: 0.67rem; letter-spacing: 0.06em; text-transform: uppercase; }
tbody th { text-align: left; font-size: 0.84rem; }
tbody td { color: var(--ink-soft); font-size: 0.82rem; }
table tr > :first-child { position: sticky; left: 0; z-index: 2; min-width: 150px; background: #fff; box-shadow: 1px 0 var(--line); }
thead tr > :first-child { z-index: 3; background: #f7f9f9; }
.ours th, .ours td { background: var(--perception-soft); color: #164f5b; font-weight: 800; }
.ours > :first-child { background: var(--perception-soft); }

.takeaways { margin-top: 50px; display: grid; grid-template-columns: repeat(3, 1fr); gap: 34px; }
.takeaways article { padding-top: 20px; border-top: 3px solid var(--perception); }
.takeaways article.is-contact { border-top-color: var(--contact); }
.takeaways p { margin: 9px 0 0; color: var(--ink-soft); font-size: 0.92rem; }

.demo-grid { margin-top: 50px; display: grid; grid-template-columns: 1fr 1fr; gap: 38px 24px; }
.demo-item h3 { margin-top: 13px; }
.demo-item .media-placeholder strong { display: none; }

.video-section { padding-top: 34px; }
.video-placeholder {
  min-height: clamp(330px, 52vw, 620px);
  margin-top: 40px;
  display: flex;
  flex-direction: column;
  align-items: center;
  justify-content: center;
  gap: 9px;
  background: #f3f6f6;
  border: 1px solid var(--line);
  color: var(--ink-faint);
}
.video-placeholder svg { width: 54px; height: 54px; margin-bottom: 8px; color: var(--contact); }
.video-placeholder strong { color: var(--ink); font-size: 1.08rem; }
.video-placeholder span { font-size: 0.85rem; }

footer { padding: 50px 0 62px; border-top: 1px solid var(--line); color: var(--ink-faint); text-align: center; }
footer strong { color: var(--ink); letter-spacing: 0.12em; }
footer p { margin: 5px 0; font-size: 0.82rem; }
.template-credit { margin-top: 14px; }
footer a { color: var(--ink-soft); text-underline-offset: 3px; }

@media (max-width: 860px) {
  .page-width, .text-width, .nav-inner { width: min(calc(100% - 36px), var(--max-width)); }
  .feature-list, .takeaways { grid-template-columns: 1fr; }
  .feature-list { gap: 26px; }
  .hardware-subsection, .evaluation-overview { grid-template-columns: 1fr; }
  .hardware-media { min-height: 340px; }
}

@media (max-width: 680px) {
  html { scroll-padding-top: 108px; }
  body { font-size: 15px; }
  .site-nav { position: sticky; }
  .nav-inner { min-height: 94px; flex-direction: column; justify-content: center; gap: 4px; }
  .nav-links { width: 100%; justify-content: center; overflow-x: auto; scrollbar-width: none; }
  .nav-links::-webkit-scrollbar { display: none; }
  .nav-links a { padding: 5px 8px; font-size: 0.72rem; white-space: nowrap; }
  .hero { padding-top: 58px; }
  .hero h1 { font-size: clamp(2.25rem, 11.5vw, 3.15rem); }
  .authors { gap: 3px 14px; font-size: 0.94rem; }
  .tldr { grid-template-columns: 1fr; gap: 5px; }
  .tldr p { margin: 0; }
  .hero-media { min-height: 280px; }
  .abstract-copy { padding-left: 20px; }
  .uncertainty-grid, .method-stages, .paired-media, .demo-grid { grid-template-columns: 1fr; }
  .uncertainty ul { columns: 1; }
  .method-stages { gap: 34px; }
  .paired-media, .demo-grid { gap: 30px; }
  .pipeline-media { min-height: 260px; }
  .hardware-media { min-height: 280px; }
  .publication-button { padding-inline: 13px; }
}

@media (prefers-reduced-motion: reduce) {
  html { scroll-behavior: auto; }
  *, *::before, *::after { transition-duration: 0.01ms !important; }
}