@font-face {
  font-family: Inter;
  src: url("assets/fonts/InterVariable.woff2") format("woff2");
  font-weight: 100 900;
  font-style: normal;
  font-display: swap;
}
:root {
  --paper: #fff;
  --ink: #171717;
  --muted: #555;
  --green: #222;
  --green-light: #f3f3f3;
  --line: #ddd;
  --accent: #444;
  --sans: Inter, "Helvetica Neue", Arial, sans-serif;
  --serif: var(--sans);
}
* { box-sizing: border-box; }
html { scroll-behavior: smooth; scroll-padding-top: 76px; }
body { margin: 0; color: var(--ink); background: var(--paper); font: 16px/1.6 var(--sans); -webkit-font-smoothing: antialiased; }
[hidden] { display: none !important; }
a { color: inherit; text-decoration: none; }
a:hover { text-decoration: underline; text-underline-offset: 3px; }
button, select { font: inherit; color: inherit; }
button, summary, select { cursor: pointer; }
a, button { touch-action: manipulation; }
a:focus-visible, button:focus-visible, summary:focus-visible, select:focus-visible { outline: 2px solid #333; outline-offset: 4px; }
img { display: block; max-width: 100%; height: auto; }
figure, p, h1, h2, h3 { margin: 0; }
sup { font-size: .65em; line-height: 0; }
svg { fill: none; stroke: currentColor; stroke-width: 1.7; stroke-linecap: round; stroke-linejoin: round; }
.wrap { width: min(1120px, calc(100% - 64px)); margin-inline: auto; }
.section { padding-block: 56px; }
h1 { max-width: 1100px; margin: auto; font-size: clamp(28px, 3vw, 38px); font-weight: 600; line-height: 1.28; letter-spacing: -.5px; text-wrap: balance; }
h1 strong { font-weight: 700; }
h2 { font-size: 34px; font-weight: 600; line-height: 1.3; }
h3 { font-size: 18px; line-height: 1.4; font-weight: 600; }
.button { display: inline-flex; align-items: center; justify-content: center; gap: 8px; border: 1px solid #bbb; border-radius: 5px; padding: 8px 17px; font-size: 14px; background: white; white-space: nowrap; }
.button svg { width: 17px; height: 17px; }
.button:hover { background: #f3f3f3; text-decoration: none; }
.button.primary { color: #fff; background: #222; border-color: #222; }
.button.primary:hover { background: #444; }
.scene-tabs { display: flex; justify-content: center; gap: 6px; margin-bottom: 14px; }
.scene-tabs button { border: 1px solid #ccc; background: #fff; border-radius: 5px; padding: 9px 24px; font-size: 15px; }
.scene-tabs button[aria-pressed="true"] { background: #222; color: #fff; border-color: #222; }
.scene-tabs button:hover { box-shadow: inset 0 0 0 1px #555; }
#scene-video { display: block; width: 100%; height: auto; aspect-ratio: 16/9; background: #f5f5f5; border-radius: 4px; }
.scene-caption, .video-caption { display: flex; justify-content: space-between; align-items: baseline; gap: 16px; padding: 12px 0; font-size: 13px; color: var(--muted); }
.scene-caption .text-link { flex-shrink: 0; padding: 0; border: 0; background: none; }
.scene-explorer-disclosure, .abstract { border-block: 1px solid var(--line); margin-top: 16px; }
.scene-explorer-disclosure>summary, .abstract>summary { display: flex; justify-content: space-between; align-items: center; gap: 20px; padding: 16px 0; list-style: none; font-size: 15px; font-weight: 600; }
summary::-webkit-details-marker { display: none; }
.scene-explorer-disclosure[open]>summary>span, .abstract[open]>summary>span { transform: rotate(45deg); }
.hero-figure { border: 1px solid var(--line); border-radius: 4px; overflow: hidden; margin-bottom: 20px; }
.section-heading { margin-bottom: 32px; text-align: center; }
.contribution-grid { display: grid; grid-template-columns: repeat(3, minmax(0, 1fr)); gap: 24px; }
.contribution-grid > article, .stat-grid > article { min-width: 0; padding: 24px; border: 1px solid var(--line); border-radius: 8px; background: #fafafa; }
.contribution p { margin-top: 10px; font-size: 15px; color: var(--muted); }
.abstract>p { font-size: 15px; max-width: 960px; padding: 4px 0 24px; line-height: 1.8; }
.paper-figure { border: 1px solid var(--line); border-radius: 4px; padding: 20px 20px 0; }
.paper-figure img { width: 100%; }
.paper-figure figcaption { display: flex; flex-wrap: wrap; gap: 6px 16px; padding: 14px 0; margin-top: 14px; border-top: 1px solid var(--line); font-size: 13px; color: var(--muted); }
.paper-figure figcaption span { margin-left: auto; }
#method { padding-top: 16px; }
.benchmark-section { border-block: 1px solid var(--line); }
.benchmark-summary { margin-top: 12px; font-size: 17px; line-height: 1.6; color: var(--muted); text-wrap: balance; }
.benchmark-grid { display: grid; grid-template-columns: repeat(4, minmax(0, 1fr)); gap: 24px; }
.benchmark-grid article { min-width: 0; display: flex; flex-direction: column; }
.text-link { font-size: 13px; font-weight: 600; text-underline-offset: 3px; }
.text-link:hover { text-decoration: underline; }
.section-footnote { font-size: 12px; line-height: 1.7; color: var(--muted); margin-top: 16px; }
.section-footnote a { text-decoration: underline; text-underline-offset: 3px; }
.stat-grid { display: grid; grid-template-columns: repeat(3, minmax(0,1fr)); gap: 24px; }
.stat-value { display: block; font-size: 38px; font-variant-numeric: tabular-nums; font-weight: 600; }
.stat-value>span { font-size: 24px; }
.stat-grid h3 { font-size: 14px; }
.stat-grid p { font-size: 12px; margin-top: 5px; color: var(--muted); }
.video-caption a { flex-shrink: 0; text-decoration: underline; }
.experiment-takeaways { border-top: 1px solid var(--line); }
.takeaway-grid { display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 24px 36px; }
.takeaway-grid article { min-width: 0; padding: 24px; border: 1px solid var(--line); border-radius: 8px; background: #fafafa; }
.takeaway-grid h3 { font-size: 18px; font-weight: 600; line-height: 1.55; }
table { border-collapse: collapse; width: 100%; font-size: 14px; }
caption { text-align: left; font-weight: 600; padding-block: 16px; }
caption span { float: right; font-weight: 400; }
th, td { padding: 12px; text-align: right; border-bottom: 1px solid var(--line); font-variant-numeric: tabular-nums; }
th:first-child { text-align: left; }
thead th { font-size: 12px; }
tbody th { font-weight: 400; }
.citation-section { border-top: 1px solid var(--line); }
.citation-heading { display: flex; justify-content: flex-end; align-items: center; gap: 18px; margin-bottom: 20px; }
pre { overflow-x: auto; padding: 20px; background: #f6f6f6; border: 1px solid var(--line); font-size: 13px; line-height: 1.7; }
footer { display: flex; flex-wrap: wrap; justify-content: space-between; align-items: flex-start; gap: 16px 24px; padding-block: 24px; border-top: 1px solid var(--line); color: var(--muted); font-size: 13px; }
.footer-credit { margin-top: 6px; }
.footer-credit a { text-decoration: underline; text-underline-offset: 3px; }
.eyebrow { font-size: 12px; font-weight: 600; }
.sr-only { position: absolute; width: 1px; height: 1px; padding: 0; margin: -1px; overflow: hidden; clip: rect(0,0,0,0); white-space: nowrap; border: 0; }
.skip-link { position: fixed; top: -80px; left: 15px; background: #222; color: white; padding: 10px 15px; z-index: 100; }
.skip-link:focus { top: 10px; }
@media (max-width: 1000px) {
  .benchmark-grid { grid-template-columns: repeat(2, minmax(0,1fr)); gap: 32px; }
}
@media (max-width: 700px) {
  .wrap { width: calc(100% - 32px); }
  h1 { font-size: 27px; }
  h2 { font-size: 28px; }
  .button { font-size: 13px; padding: 9px 12px; }
  .section { padding-block: 40px; }
  .scene-tabs { gap: 6px; }
  .scene-tabs button { flex: 1; padding: 9px 8px; font-size: 14px; }
  .scene-caption, .video-caption { flex-wrap: wrap; gap: 6px; font-size: 12px; }
  .scene-explorer-disclosure>summary { font-size: 14px; }
  .contribution-grid { grid-template-columns: 1fr; gap: 16px; }
  .contribution-grid > article, .stat-grid > article { padding: 20px; }
  .paper-figure { padding: 12px 12px 0; }
  .paper-figure figcaption { font-size: 12px; }
  .paper-figure figcaption span { width: 100%; margin-left: 0; }
  .benchmark-grid { grid-template-columns: 1fr; }
  .stat-grid { grid-template-columns: 1fr; gap: 16px; }
  .takeaway-grid { grid-template-columns: 1fr; gap: 20px; }
  .stat-value { font-size: 32px; }
  pre { padding: 14px; font-size: 11px; }
}
@media (prefers-reduced-motion: reduce) {
  html { scroll-behavior: auto; }
  *, *::before, *::after { animation: none !important; transition: none !important; }
}

/* Rankings are computed independently for each published metric. */
.leaderboard { margin-top: 48px; padding: 30px; border: 1px solid #d2d2d2; border-radius: 8px; background: var(--paper); scroll-margin-top: 95px; }
.leaderboard-heading { display: flex; align-items: center; justify-content: space-between; gap: 20px; }
.leaderboard-heading h3 { font-size: 26px; font-weight: 500; letter-spacing: -.8px; margin-top: 10px; line-height: 1.3; }
.leaderboard-heading>a { flex-shrink: 0; }
.leaderboard-intro { font-size: 12px; color: var(--muted); margin-top: 10px; }
.benchmark-tabs { display: flex; gap: 6px; border-bottom: 1px solid var(--line); padding-bottom: 12px; margin-top: 25px; flex-wrap: wrap; }
.benchmark-tabs button { background: transparent; border: 1px solid transparent; border-radius: 4px; padding: 10px 15px; font-size: 11px; color: var(--muted); }
.benchmark-tabs button[aria-pressed="true"] { background: var(--green); color: white; }
.benchmark-tabs button:hover { border-color: var(--green); }
.ranking-controls { display: flex; gap: 24px; align-items: center; justify-content: space-between; padding: 20px 0; }
.ranking-controls label { display: flex; align-items: center; gap: 12px; font-size: 11px; color: var(--muted); }
.ranking-controls select { background: white; min-width: 250px; }
.ranking-controls>div { text-align: right; }
.ranking-controls strong { display: block; color: var(--green); font-size: 11px; font-weight: 600; }
.ranking-controls p { color: var(--muted); font-size: 10px; margin-top: 4px; }
.ranking-table-scroll { overflow-x: auto; border: 1px solid var(--line); border-radius: 4px; }
.ranking-table { min-width: 630px; background: white; }
.ranking-table caption { padding: 13px 16px; background: #f1f1f1; color: var(--green); font-size: 11px; font-weight: 500; caption-side: top; }
.ranking-table thead th { border-top: 0; background: #f1f1f1; padding: 12px; }
.ranking-table thead th:first-child { width: 52px; text-align: center; }
.ranking-table thead th:nth-child(2) { text-align: left; width: 230px; }
.ranking-table thead button { border: 0; background: none; color: inherit; font-size: 10px; padding: 4px 0; text-align: right; line-height: 1.5; }
.ranking-table [aria-sort] { color: var(--green); font-weight: 700; }
.ranking-table tbody th { text-align: left; font-size: 12px; font-weight: 500; }
.ranking-table td { font-size: 12px; white-space: nowrap; }
.ranking-table tbody th small { display: block; font-size: 9px; color: var(--muted); font-weight: 400; margin-top: 3px; }
.ranking-table tbody th, .ranking-table tbody td { padding: 12px; }
.ranking-table tr:last-child>* { border-bottom: 0; }
.ranking-table .ours-row { background: #eeeeee; }
.ranking-table .rank { text-align: center; color: var(--muted); font-size: 12px; }
.ranking-table .rank-first { color: var(--green); font-weight: 750; }
.ranking-table .selected-score { background: rgba(0, 0, 0, .035); }
.ranking-table .best-score { color: #393939; font-weight: 750; }
.ranking-table .second-score { text-decoration: underline; text-underline-offset: 4px; }
.ranking-legend { display: flex; flex-wrap: wrap; gap: 20px; margin-top: 18px; font-size: 10px; color: var(--muted); }
.ranking-legend span { display: inline-flex; align-items: center; gap: 6px; }
.best-key { display: inline-block; height: 7px; width: 7px; border-radius: 50%; background: var(--green); }
.ranking-legend u { text-underline-offset: 3px; }
.leaderboard .section-footnote { margin-top: 10px; }
@media(max-width:1000px) {
  .ranking-controls { align-items: flex-start; }
  .ranking-controls label { display: grid; gap: 5px; }
}
@media(max-width:700px) {
  .leaderboard { margin-top: 30px; padding: 20px 14px; scroll-margin-top: 80px; }
  .leaderboard-heading { align-items: flex-start; gap: 10px; }
  .leaderboard-heading h3 { font-size: 22px; }
  .leaderboard-heading>a { font-size: 10px; }
  .leaderboard-heading .eyebrow { font-size: 8px; }
  .leaderboard-intro { font-size: 11px; }
  .benchmark-tabs { display: grid; grid-template-columns: 1fr 1fr; gap: 6px; margin-top: 18px; }
  .benchmark-tabs button { font-size: 10px; padding: 10px 6px; background: #efefef; }
  .ranking-controls { display: block; padding: 15px 0; }
  .ranking-controls select { min-width: 0; width: 100%; }
  .ranking-controls>div { text-align: left; margin-top: 12px; }
  .ranking-controls strong { font-size: 10px; }
  .ranking-controls p { font-size: 9px; }
  .ranking-table { min-width: 0; table-layout: fixed; width: calc(242px + var(--related-count, 2) * 110px); }
  .ranking-table tbody th { font-size: 11px; }
  .ranking-table thead th:first-child { width: 32px; }
  .ranking-table thead th:nth-child(2) { width: 120px; }
  .ranking-table thead th:nth-child(3) { width: 90px; }
  .ranking-table th:nth-child(2) { position: sticky; left: 32px; background: #ffffff; box-shadow: 1px 0 #dddddd; z-index: 1; }
  .ranking-table .rank { position: sticky; left: 0; background: #ffffff; z-index: 1; }
  .ranking-table .ours-row .rank { background: #eeeeee; }
  .ranking-table .ours-row th:nth-child(2) { background: #eeeeee; }
  .ranking-table thead th:nth-child(2) { background: #f1f1f1; z-index: 2; }
  .ranking-table td { font-size: 11px; }
  .ranking-table tbody th, .ranking-table tbody td { padding: 11px 7px; }
  .ranking-legend { gap: 8px 15px; font-size: 9px; }
}

/* Compact charts provide a visual entry point into each evaluation dimension. */
.mini-chart { border-top: 1px solid #d3d3d3; padding-top: 18px; margin-top: 22px; }
.mini-chart select { display: block; width: 100%; margin-top: 0; font-size: 10px; padding: 8px 20px 8px 7px; background: #f9f9f9; }
.mini-scale { font-size: 9px; color: var(--muted); margin-top: 8px; }
.mini-bars { display: grid; gap: 12px; margin: 18px 0; min-height: 239px; align-content: start; }
.mini-bar>div:first-child { display: flex; gap: 5px; justify-content: space-between; font-size: 10px; align-items: baseline; line-height: 1.3; }
.mini-bar strong { font-weight: 500; font-variant-numeric: tabular-nums; }
.mini-track { height: 8px; background: #dfdfdf; margin-top: 6px; border-radius: 2px; overflow: hidden; }
.mini-track span { display: block; height: 100%; background: #a9a9a9; border-radius: 2px; transition: width .2s; }
.mini-ours { color: var(--green); }
.mini-ours strong { font-weight: 750; }
.mini-ours .mini-track span { background: var(--green); }
@media(max-width:700px) {
  .benchmark-grid { grid-template-columns: 1fr; }
  .benchmark-grid article, .benchmark-grid article+article { padding: 25px 0; border-left: 0; }
  .benchmark-grid article+article { border-top: 1px solid #cecece; }
  .benchmark-grid .metric-tags { margin-block: 13px; }
  .benchmark-grid .bench-number { margin-bottom: 8px; }
  .mini-bars { min-height: 0; gap: 11px; }
  .mini-bar>div:first-child { font-size: 11px; }
  .mini-chart select { font-size: 12px; padding: 9px; }
}

.public-study-cta { display: flex; align-items: center; justify-content: space-between; gap: 28px; padding: 25px 28px; background: var(--green-light); border-radius: 6px; margin-bottom: 28px; }
.public-study-cta h3 { font-size: 17px; font-weight: 550; }
.public-study-cta p { margin-top: 9px; max-width: 610px; font-size: 12px; color: var(--muted); line-height: 1.8; }
.comparison-toolbar { display: flex; justify-content: space-between; align-items: center; gap: 20px; padding: 14px 0; font-size: 11px; border-top: 1px solid var(--line); }
.comparison-toolbar p { color: var(--muted); }
.comparison-toolbar a { color: var(--green); }
.method-comparison { display: block; width: 100%; height: var(--comparison-height, 640px); border: 1px solid var(--line); border-radius: 6px; background: #f8f8f8; }
@media(max-width:1000px) { .public-study-cta { align-items: flex-start; flex-direction: column; gap: 18px; } }
@media(max-width:700px) {
  .public-study-cta { padding: 21px; }
  .public-study-cta h3 { font-size: 16px; }
  .public-study-cta p { font-size: 11px; }
  .comparison-toolbar { align-items: flex-start; flex-direction: column; gap: 8px; }
}

/* Keep the overview visible and detailed benchmark tables opt-in. */
.leaderboard-disclosure { margin-top: 30px; border: 1px solid #cccccc; border-radius: 7px; background: #ffffff; scroll-margin-top: 96px; }
.leaderboard-disclosure>summary { display: flex; justify-content: space-between; align-items: center; gap: 24px; padding: 22px 26px; cursor: pointer; list-style: none; color: var(--green); }
.leaderboard-disclosure>summary::-webkit-details-marker { display: none; }
.leaderboard-disclosure>summary strong { display: block; font-size: 17px; font-weight: 550; }
.leaderboard-disclosure>summary small { display: block; margin-top: 4px; color: var(--muted); font-size: 11px; }
.metrics-toggle-label { flex-shrink: 0; padding: 8px 12px; border: 1px solid #cccccc; border-radius: 4px; font-size: 11px; background: #f2f2f2; }
.metrics-toggle-label>span>span { margin-left: 10px; font-size: 16px; vertical-align: middle; }
.leaderboard-disclosure .metrics-hide { display: none; }
.leaderboard-disclosure[open] .metrics-hide { display: inline; }
.leaderboard-disclosure[open] .metrics-show { display: none; }
.leaderboard-disclosure .leaderboard { margin-top: 0; border: 0; border-top: 1px solid var(--line); border-radius: 0; }
.leaderboard-disclosure>summary:hover { background: #f5f5f5; border-radius: 7px; }
@media (max-width: 700px) {
  .leaderboard-disclosure { scroll-margin-top: 76px; }
  .leaderboard-disclosure>summary { padding: 18px 14px; gap: 12px; }
  .leaderboard-disclosure>summary strong { font-size: 15px; line-height: 1.4; }
  .leaderboard-disclosure>summary small { font-size: 10px; line-height: 1.6; }
  .metrics-toggle-label { padding: 6px 8px; font-size: 10px; }
  .metrics-toggle-label>span>span { margin-left: 5px; }
}

/* Consistent readable labels for compact charts and disclosures. */
.leaderboard-disclosure { scroll-margin-top: 24px; }
.leaderboard-heading h3 { font-size: 22px; letter-spacing: 0; font-weight: 600; }
.leaderboard-disclosure>summary strong { font-size: 16px; font-weight: 600; }
.metrics-toggle-label { font-size: 12px; }
.mini-chart { margin-top: 16px; }
.mini-chart select, .mini-bar>div:first-child { font-size: 12px; }
.mini-scale { font-size: 11px; }
.mini-bars { min-height: 260px; }
.mini-track { background: #eee; }
.mini-track span { background: #aaa; }
.mini-ours .mini-track span { background: #222; }
.public-study-cta { background: #f6f6f6; border: 1px solid #ddd; padding: 20px; }
.public-study-cta h3 { font-size: 17px; font-weight: 600; }
.public-study-cta p { font-size: 14px; }
.comparison-toolbar { font-size: 13px; }
@media (max-width:700px) {
  .benchmark-grid article, .benchmark-grid article+article { padding: 20px 0; }
  .mini-bars { min-height: 0; }
  .leaderboard-disclosure>summary { align-items: flex-start; }
  .metrics-toggle-label { white-space: nowrap; }
}

/* Each physical evaluation is visible without switching between categories. */
.physics-gallery { margin-top: 44px; padding-top: 32px; border-top: 1px solid var(--line); }
.physics-gallery > h3 { text-align: center; font-size: 25px; margin-bottom: 22px; }
.physics-picker { display: flex; justify-content: center; flex-wrap: wrap; gap: 8px; margin-bottom: 22px; }
.physics-picker button { display: flex; align-items: center; gap: 8px; border: 1px solid #d5d5d5; border-radius: 5px; background: #fff; padding: 6px 12px 6px 6px; font-size: 13px; line-height: 1.3; text-align: left; }
.physics-picker img { width: 48px; height: 42px; object-fit: contain; background: #f1f3f6; border-radius: 3px; }
.physics-picker button[aria-pressed="true"] { border-color: #222; box-shadow: inset 0 0 0 1px #222; font-weight: 600; background: #f5f5f5; }
.physics-picker button:hover { border-color: #555; }
.physics-playback { display: flex; align-items: center; justify-content: space-between; gap: 12px; margin-bottom: 14px; }
.physics-playback > p { font-size: 17px; font-weight: 600; }
.physics-playback > div { display: flex; gap: 8px; }
.physics-playback .button { padding: 6px 12px; font-size: 13px; }
.physics-context { margin-bottom: 12px; color: var(--muted); font-size: 13px; }
.physics-grid { display: grid; grid-template-columns: repeat(3, minmax(0, 1fr)); gap: 14px; }
.physics-grid figure { min-width: 0; overflow: hidden; border: 1px solid var(--line); border-radius: 5px; background: #f1f3f6; }
.physics-grid figcaption { padding: 9px 12px; background: white; font-size: 14px; text-align: center; }
.physics-grid video { display: block; width: 100%; aspect-ratio: 4/3; object-fit: contain; }
.physics-grid .physics-ours { border-color: #555; }
.physics-grid .physics-ours figcaption { font-weight: 600; }
.physics-grid .physics-unavailable { aspect-ratio: 4/3; display: grid; place-content: center; padding: 18px; text-align: center; font-size: 13px; color: var(--muted); }
.robot-grid { grid-template-columns: repeat(4, minmax(0, 1fr)); }
.physics-legend { display: flex; align-items: center; gap: 7px; margin-top: 12px; font-size: 12px; color: var(--muted); }
.physics-legend > span { width: 12px; height: 12px; border: 2px solid #ba302b; }
.physics-full-video { text-align: right; margin-top: 22px; font-size: 13px; text-decoration: underline; }
.physics-gallery noscript video { width: 100%; }
@media (max-width: 700px) {
  .physics-gallery { margin-top: 30px; padding-top: 26px; }
  .physics-gallery > h3 { font-size: 22px; }
  .physics-grid, .robot-grid { grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 8px; }
  .physics-grid figcaption { font-size: 12px; padding: 8px 3px; }
  .physics-picker { gap: 6px; }
  .physics-picker button { font-size: 12px; padding: 5px 8px; }
  .physics-picker img { width: 35px; height: 32px; }
  .physics-playback { flex-wrap: wrap; }
  .physics-playback > p { font-size: 15px; }
  .physics-grid .physics-unavailable { font-size: 11px; padding: 8px; }
}