* {
  box-sizing: border-box;
  margin: 0;
  padding: 0;
}

:root {
  --paper: #fffdfa;
  --ink: #161616;
  --muted: #5e5e5e;
  --line: #ded8cd;
  --soft: #f7f2e9;
  --blue: #0173b2;
  --orange: #de8f05;
  --green: #029e73;
  --red: #d55e00;
  --purple: #cc78bc;
  --cyan: #56b4e9;
  --gray: #949494;
}

body {
  background: var(--paper);
  color: var(--ink);
  font-family: "Computer Modern Serif", Georgia, serif;
  font-size: 14pt;
  line-height: 1.68;
  text-align: justify;
}

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

a:hover {
  text-decoration: underline;
}

.outercontainer {
  text-align: center;
}

.container {
  display: inline-block;
  max-width: 980px;
  min-width: 320px;
  width: 90%;
  text-align: justify;
}

.content {
  display: block;
  margin: 0 auto 2.2rem;
  width: 100%;
}

.project-title {
  padding-top: 2rem;
  text-align: center;
}

.venue {
  color: var(--muted);
  font-size: 0.86em;
  letter-spacing: 0;
  margin-bottom: 0.4rem;
  text-align: center;
  text-transform: uppercase;
}

h1 {
  font-size: 2.05rem;
  font-weight: 650;
  line-height: 1.18;
  margin: 0 auto 0.9rem;
  max-width: 900px;
  text-align: center;
}

.authors {
  font-size: 1.05em;
  line-height: 1.5;
  margin: 0 auto 0.35rem;
  max-width: 860px;
  text-align: center;
}

.authors a,
.content p a {
  color: var(--blue);
}

.affiliations {
  color: var(--muted);
  font-size: 0.92em;
  margin-bottom: 0.25rem;
  text-align: center;
}

.affil-note {
  color: var(--muted);
  font-size: 0.82em;
  font-style: italic;
  margin-bottom: 0.95rem;
  text-align: center;
}

sup {
  font-size: 0.68em;
  vertical-align: super;
}

.links {
  display: flex;
  flex-wrap: wrap;
  gap: 0.45rem;
  justify-content: center;
}

.link-pill {
  align-items: center;
  border: 1px solid var(--line);
  border-radius: 4px;
  color: var(--blue);
  display: inline-flex;
  gap: 0.4em;
  font-size: 0.88em;
  line-height: 1.1;
  padding: 0.42rem 0.62rem;
}

.pill-ico {
  height: 1.05em;
  width: auto;
  flex: 0 0 auto;
}

.link-pill.muted {
  color: var(--muted);
}

/* unclickable pills that reveal a "Coming soon" overlay on hover */
.link-pill.soon {
  position: relative;
  color: var(--muted);
  cursor: not-allowed;
}

.link-pill.soon::after {
  content: "Coming soon";
  position: absolute;
  left: 50%;
  bottom: calc(100% + 6px);
  transform: translateX(-50%) translateY(4px);
  padding: 0.2rem 0.5rem;
  background: var(--ink);
  border-radius: 4px;
  color: var(--paper);
  font-size: 0.72em;
  line-height: 1.2;
  white-space: nowrap;
  opacity: 0;
  pointer-events: none;
  transition: opacity 0.14s, transform 0.14s;
  z-index: 10;
}

.link-pill.soon:hover::after,
.link-pill.soon:focus-visible::after {
  opacity: 1;
  transform: translateX(-50%) translateY(0);
}

.title {
  border-bottom: 1px solid var(--line);
  font-size: 1.08em;
  margin-bottom: 0.65rem;
  padding-bottom: 0.15rem;
}

.speed-note {
  color: var(--muted);
  font-size: 0.74em;
  font-style: italic;
  font-weight: 400;
}

p {
  margin-bottom: 0.8rem;
}

ul,
ol {
  margin: 0 0 0.8rem 1.4rem;
}

li {
  margin-bottom: 0.3rem;
}

img {
  display: block;
  height: auto;
  max-width: 100%;
}

.teaser {
  display: flex;
  justify-content: center;
  margin-bottom: 1.8rem;
}

.teaser img {
  max-height: 520px;
  width: auto;
}

.hero-video {
  background: #111;
  border: 1px solid var(--line);
  border-radius: 6px;
  display: block;
  max-height: 520px;
  max-width: 100%;
  width: auto;
}

.figure-shell {
  background: #fff;
  border: 1px solid var(--line);
  border-radius: 6px;
  border-top: 5px solid var(--gray);
  margin: 0.85rem 0 0;
  overflow: hidden;
  padding: 0.85rem;
}

.figure-shell.compact {
  margin: 0;
}

.figure-shell.accent-blue {
  border-top-color: var(--blue);
}

.figure-shell.accent-orange {
  border-top-color: var(--orange);
}

.figure-shell.accent-green {
  border-top-color: var(--green);
}

.figure-shell.accent-purple {
  border-top-color: var(--purple);
}

figcaption,
.caption {
  color: var(--muted);
  font-size: 0.84em;
  font-style: italic;
  line-height: 1.45;
  margin-top: 0.55rem;
  text-align: center;
}

.equation-box {
  background: var(--soft);
  border: 1px solid var(--line);
  border-left: 5px solid var(--cyan);
  border-radius: 6px;
  color: #202020;
  font-size: 1.05em;
  margin: 0.7rem 0 0.95rem;
  padding: 0.8rem 1rem;
  text-align: center;
}

.media-display.two-column {
  align-items: center;
  display: grid;
  gap: 1.4rem;
  grid-template-columns: minmax(0, 1fr) minmax(0, 1fr);
}

.media-display.two-column .figure-shell {
  margin: 0 auto;
  width: 100%;
}

/* keep the image at its natural size, just centered within its column */
.media-display.two-column .figure-shell img {
  margin: 0 auto;
  width: auto;
  max-width: 100%;
}

.video-grid {
  display: grid;
  gap: 0.75rem;
}

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

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

.video-card {
  background: #fff;
  border: 1px solid var(--line);
  border-radius: 6px;
  overflow: hidden;
}

.video-card.large {
  min-height: 100%;
}

.disagreement-video {
  display: grid;
}

.disagreement-video .video-card {
  height: 100%;
}

.disagreement-video .video-frame {
  min-height: 300px;
}

.video-frame {
  aspect-ratio: 16 / 10;
  background:
    linear-gradient(135deg, rgba(1, 115, 178, 0.12), rgba(222, 143, 5, 0.12)),
    var(--soft);
  display: grid;
  min-height: 150px;
  place-items: center;
  position: relative;
}

.video-card.large .video-frame {
  min-height: 300px;
}

.demo-video {
  background: #111;
  border: 0;
  display: block;
  height: 100%;
  object-fit: cover;
  width: 100%;
}

/* Generalization clips are shown in full (never cropped): match each frame to the
   source aspect ratio and contain the video within it. */
[data-grid="ood"] .video-frame {
  aspect-ratio: 16 / 9;
}

[data-grid="imagine"] .video-frame {
  aspect-ratio: 672 / 176;
  min-height: 0;
}

[data-grid="ood"] .demo-video,
[data-grid="imagine"] .demo-video {
  object-fit: contain;
}

.video-fallback {
  color: var(--muted);
  display: none;
  font-size: 0.82em;
  line-height: 1.35;
  max-width: 90%;
  text-align: center;
}

.video-fallback strong {
  color: var(--ink);
  display: block;
  font-size: 1.05em;
  margin-bottom: 0.2rem;
}

.video-card.missing .demo-video {
  display: none;
}

.video-card.missing .video-fallback {
  display: block;
}

.video-meta {
  border-top: 1px solid var(--line);
  padding: 0.48rem 0.58rem 0.55rem;
}

.video-meta h3 {
  font-size: 0.9em;
  font-weight: 650;
  line-height: 1.25;
  margin-bottom: 0.16rem;
  text-align: left;
}

.video-meta p {
  color: var(--muted);
  font-size: 0.78em;
  line-height: 1.35;
  margin: 0;
  text-align: left;
}

.plot-grid {
  display: grid;
  gap: 0.9rem;
  grid-template-columns: 1fr;
}

.optional-placeholder {
  align-items: center;
  aspect-ratio: 16 / 9;
  background:
    linear-gradient(135deg, rgba(86, 180, 233, 0.12), rgba(2, 158, 115, 0.12)),
    var(--soft);
  color: var(--muted);
  display: flex;
  font-size: 0.88em;
  justify-content: center;
  padding: 1rem;
  text-align: center;
}

pre.bibtex {
  background: #f7f7f7;
  border: 1px solid var(--line);
  border-radius: 6px;
  font-size: 0.82em;
  line-height: 1.45;
  overflow-x: auto;
  padding: 0.85rem;
  text-align: left;
  white-space: pre-wrap;
}

.footer {
  color: var(--muted);
  font-size: 0.84em;
  margin-bottom: 2.4rem;
  text-align: center;
}

@media only screen and (max-width: 760px) {
  body {
    font-size: 12pt;
  }

  .container {
    width: 94%;
  }

  h1 {
    font-size: 1.55rem;
  }

  .media-display.two-column,
  .plot-grid,
  .grid-2,
  .grid-3 {
    grid-template-columns: 1fr;
  }

  .teaser img {
    width: 72%;
  }

  .hero-video {
    max-height: none;
    width: 100%;
  }
}

@media print {
  body {
    background: #fff;
    font-size: 11pt;
  }

  .container {
    max-width: none;
    width: 100%;
  }
}

/* ---- Training Dataset interactive viewer ---- */
.ds-spotlight {
  padding: 0.6rem;
}

.ds-spot-frame {
  position: relative;
  aspect-ratio: 4 / 1;
  background: #111;
  border-radius: 4px;
  overflow: hidden;
}

.ds-spot-video {
  display: block;
  width: 100%;
  height: 100%;
  background: #111;
  cursor: pointer;
  object-fit: contain;
}

.ds-spot-play {
  position: absolute;
  inset: 0;
  width: 54px;
  height: 54px;
  margin: auto;
  background: rgba(255, 253, 250, 0.92);
  border: 1px solid var(--line);
  border-radius: 50%;
  color: var(--ink);
  cursor: pointer;
  font-size: 1.1rem;
}

.ds-spot-progress {
  position: absolute;
  left: 0;
  right: 0;
  bottom: 0;
  height: 2px;
  background: rgba(255, 255, 255, 0.18);
}

.ds-spot-progress > span {
  display: block;
  width: 0;
  height: 100%;
  background: var(--purple);
  transition: width 0.08s linear;
}

.ds-spot-fallback {
  position: absolute;
  inset: 0;
  display: none;
  place-items: center;
  color: var(--muted);
  font-size: 0.85em;
}

.ds-spot-frame.missing .ds-spot-video {
  display: none;
}

.ds-spot-frame.missing .ds-spot-fallback {
  display: grid;
}

.ds-spot-caption {
  display: flex;
  flex-wrap: wrap;
  align-items: baseline;
  justify-content: center;
  gap: 0.55rem;
  margin-top: 0.55rem;
  color: var(--muted);
  font-size: 0.84em;
  font-style: italic;
  text-align: center;
}

.ds-spot-index {
  color: var(--ink);
  font-size: 0.78em;
  font-style: normal;
  font-variant-numeric: tabular-nums;
  letter-spacing: 0.04em;
}

.ds-spot-name {
  color: var(--ink);
  font-style: normal;
  font-weight: 650;
}

.ds-spot-cat {
  display: inline-flex;
  align-items: center;
  gap: 0.3rem;
  color: var(--muted);
  font-size: 0.82em;
  font-style: normal;
}

.ds-dot,
.ds-tile-dot {
  display: inline-block;
  flex: 0 0 auto;
  width: 0.6em;
  height: 0.6em;
  background: var(--gray);
  border-radius: 50%;
}

[data-cat="pickAndPlace"].ds-dot,
[data-cat="pickAndPlace"].ds-tile-dot {
  background: var(--blue);
}

[data-cat="folding"].ds-dot,
[data-cat="folding"].ds-tile-dot {
  background: var(--orange);
}

[data-cat="garmentManipulation"].ds-dot,
[data-cat="garmentManipulation"].ds-tile-dot {
  background: var(--green);
}

[data-cat="highPrecisionAssembly"].ds-dot,
[data-cat="highPrecisionAssembly"].ds-tile-dot {
  background: var(--purple);
}

.ds-toolbar {
  display: flex;
  flex-wrap: wrap;
  align-items: center;
  gap: 0.6rem;
  margin: 0.85rem 0 0.6rem;
}

.ds-search-input {
  min-width: 180px;
  padding: 0.32rem 0.55rem;
  background: #fff;
  border: 1px solid var(--line);
  border-radius: 4px;
  color: var(--ink);
  font: inherit;
  font-size: 0.82em;
}

.ds-count {
  margin-left: auto;
  color: var(--muted);
  font-size: 0.78em;
  font-style: italic;
}

.ds-sheet {
  display: grid;
  grid-template-columns: repeat(6, minmax(0, 1fr));
  gap: 0.45rem;
  padding: 0.55rem;
  background: var(--paper);
  border: 1px solid var(--line);
  border-radius: 6px;
}

.ds-tile {
  position: relative;
  overflow: hidden;
  background: #111;
  border: 1px solid var(--line);
  border-radius: 3px;
  cursor: pointer;
  outline: none;
  transition: opacity 0.18s, transform 0.18s;
}

.ds-poster,
.ds-preview {
  display: block;
  width: 100%;
  aspect-ratio: 4 / 1;
  background: #111;
  object-fit: cover;
}

.ds-preview {
  position: absolute;
  inset: 0;
  height: 100%;
}

.ds-tile-dot {
  position: absolute;
  top: 4px;
  left: 4px;
  z-index: 2;
  box-shadow: 0 0 0 1px rgba(0, 0, 0, 0.35);
}

.ds-tile-label {
  position: absolute;
  inset: auto 0 0 0;
  z-index: 2;
  padding: 0.5rem 0.3rem 0.22rem;
  background: linear-gradient(transparent, rgba(0, 0, 0, 0.72));
  color: #fff;
  font-size: 0.62rem;
  line-height: 1.15;
  opacity: 0;
  pointer-events: none;
  transition: opacity 0.18s;
}

.ds-tile:hover .ds-tile-label,
.ds-tile:focus-visible .ds-tile-label {
  opacity: 1;
}

.ds-tile.is-active {
  z-index: 3;
  outline: 2px solid var(--purple);
  opacity: 1;
  transform: translateY(-1px);
}

.ds-tile:focus-visible {
  box-shadow: 0 0 0 2px var(--blue);
}

.ds-tile[hidden] {
  display: none;
}

.ds-tile-fallback {
  display: none;
}

.ds-tile.missing {
  background: var(--soft);
}

.ds-tile.missing .ds-poster {
  display: none;
}

.ds-tile.missing .ds-tile-fallback {
  display: block;
  padding: 0.4rem;
  color: var(--muted);
  font-size: 0.6rem;
  text-align: center;
}

.ds-empty {
  grid-column: 1 / -1;
  padding: 0.5rem;
  color: var(--muted);
  font-size: 0.85em;
  font-style: italic;
  text-align: center;
}

.visually-hidden {
  position: absolute;
  width: 1px;
  height: 1px;
  overflow: hidden;
  clip: rect(0 0 0 0);
  white-space: nowrap;
}

/* dim non-active tiles only on hover-capable devices, and only while idle */
@media (hover: hover) and (pointer: fine) {
  .ds-sheet:not(:hover) .ds-tile:not(.is-active) {
    opacity: 0.82;
  }
}

@media (max-width: 980px) {
  .ds-sheet {
    grid-template-columns: repeat(4, minmax(0, 1fr));
  }
}

@media (max-width: 760px) {
  .ds-sheet {
    grid-template-columns: 1fr;
    gap: 0.35rem;
    padding: 0.4rem;
  }

  .ds-tile {
    display: flex;
    align-items: center;
    gap: 0.5rem;
    padding-right: 0.4rem;
    background: #fff;
  }

  .ds-poster {
    flex: 0 0 58%;
    width: 58%;
  }

  .ds-tile-dot {
    position: static;
    box-shadow: none;
  }

  .ds-tile-label {
    position: static;
    flex: 1;
    padding: 0.25rem 0;
    background: none;
    color: var(--muted);
    opacity: 1;
    text-align: left;
  }
}

@media (prefers-reduced-motion: reduce) {
  .ds-tile,
  .ds-tile-label,
  .ds-spot-progress > span {
    transition: none;
  }

  .ds-tile.is-active {
    transform: none;
  }
}

/* ---- LIBERO OOD slider ---- */
.lib-slider {
  margin-top: 0.5rem;
}

.lib-filters {
  display: flex;
  flex-wrap: wrap;
  gap: 0.4rem;
  margin-bottom: 0.75rem;
}

.lib-chip {
  background: #fff;
  border: 1px solid var(--line);
  border-radius: 4px;
  color: var(--blue);
  cursor: pointer;
  font: inherit;
  font-size: 0.82em;
  padding: 0.3rem 0.62rem;
}

.lib-chip.is-active {
  background: var(--blue);
  border-color: var(--blue);
  color: #fff;
}

.lib-stage {
  position: relative;
}

/* continuous multi-item track: fixed-width cards, so the number of videos
   visible adapts to the slider width (several on wide screens, one on mobile) */
.lib-track {
  display: flex;
  gap: 0.6rem;
  overflow-x: auto;
  scroll-behavior: smooth;
  scroll-snap-type: x proximity;
  scroll-padding-left: 0.2rem;
  scrollbar-width: none;
  -webkit-overflow-scrolling: touch;
}

.lib-track::-webkit-scrollbar {
  display: none;
}

.lib-track:focus-visible {
  outline: 2px solid var(--blue);
  outline-offset: 3px;
}

.lib-slide {
  flex: 0 0 min(260px, 80vw);
  scroll-snap-align: start;
  display: flex;
  flex-direction: column;
}

.lib-slide[hidden] {
  display: none;
}

.lib-video-wrap {
  position: relative;
  width: 100%;
  background: #111;
  border: 1px solid var(--line);
  border-radius: 6px;
  overflow: hidden;
}

.lib-video {
  display: block;
  width: 100%;
  height: auto;
  aspect-ratio: 1 / 1;
  background: #111;
  object-fit: contain;
}

.lib-legend {
  position: absolute;
  top: 5px;
  left: 5px;
  padding: 0.08rem 0.34rem;
  background: rgba(0, 0, 0, 0.55);
  border-radius: 3px;
  color: #fff;
  font-size: 0.56rem;
  pointer-events: none;
}

.lib-slide-cap {
  margin-top: 0.45rem;
  text-align: center;
}

.lib-suite-tag {
  display: inline-block;
  margin-right: 0.35rem;
  padding: 0.08rem 0.4rem;
  border-radius: 3px;
  color: #fff;
  font-size: 0.6em;
  letter-spacing: 0.04em;
  text-transform: uppercase;
  vertical-align: middle;
}

.lib-suite-tag[data-suite="spatial"] { background: var(--blue); }
.lib-suite-tag[data-suite="goal"] { background: var(--green); }
.lib-suite-tag[data-suite="object"] { background: var(--orange); }

.lib-name {
  font-size: 0.8em;
  line-height: 1.35;
}

.lib-fail {
  margin-left: 0.3rem;
  color: var(--red);
  font-weight: 700;
}

.lib-nav {
  position: absolute;
  top: calc(min(260px, 80vw) / 2);
  transform: translateY(-50%);
  z-index: 5;
  display: grid;
  place-items: center;
  width: 38px;
  height: 38px;
  background: rgba(255, 253, 250, 0.94);
  border: 1px solid var(--line);
  border-radius: 50%;
  color: var(--ink);
  cursor: pointer;
  font-size: 1.3rem;
  line-height: 1;
}

.lib-prev { left: -6px; }
.lib-next { right: -6px; }

.lib-nav:disabled {
  opacity: 0.3;
  cursor: default;
}

.lib-footer {
  display: flex;
  align-items: center;
  justify-content: center;
  gap: 0.7rem;
  margin-top: 0.75rem;
}

.lib-index {
  color: var(--muted);
  font-size: 0.78em;
  font-variant-numeric: tabular-nums;
}

.lib-progress {
  flex: 0 0 200px;
  max-width: 42%;
  height: 3px;
  background: var(--line);
  border-radius: 2px;
  overflow: hidden;
}

.lib-progress > span {
  display: block;
  width: 0;
  height: 100%;
  background: var(--blue);
  transition: width 0.2s;
}

@media (max-width: 760px) {
  .lib-nav { width: 34px; height: 34px; font-size: 1.2rem; }
  .lib-prev { left: 0; }
  .lib-next { right: 0; }
}

@media (prefers-reduced-motion: reduce) {
  .lib-track { scroll-behavior: auto; }
  .lib-progress > span { transition: none; }
}

/* ---- click-to-play video facade (poster image + play button) ---- */
.video-facade {
  position: relative;
  cursor: pointer;
  line-height: 0;
}

.facade-poster {
  display: block;
  width: 100%;
  height: auto;
  border-radius: 4px;
}

.facade-play {
  position: absolute;
  inset: 0;
  width: max-content;
  height: max-content;
  margin: auto;
  display: inline-flex;
  align-items: center;
  gap: 0.45rem;
  padding: 0.55rem 1rem;
  background: rgba(255, 253, 250, 0.92);
  border: 1px solid var(--line);
  border-radius: 999px;
  box-shadow: 0 2px 12px rgba(0, 0, 0, 0.18);
  color: var(--ink);
  cursor: pointer;
  font: inherit;
  font-size: 0.9em;
  line-height: 1;
  transition: transform 0.15s, background 0.15s;
}

.facade-play:hover,
.video-facade:hover .facade-play,
.facade-play:focus-visible {
  background: #fff;
  transform: scale(1.04);
}

.facade-play-icon {
  color: var(--green);
  font-size: 1.05em;
}

.facade-video {
  display: block;
  width: 100%;
  height: auto;
  background: #111;
  border-radius: 4px;
}

@media (prefers-reduced-motion: reduce) {
  .facade-play {
    transition: none;
  }
}

/* ---- Imagine library: reuses the .ds-* viewer styles, wider 672:176 media ---- */
.im-frame {
  aspect-ratio: 672 / 176;
}

.im-sheet .ds-poster {
  aspect-ratio: 672 / 176;
}