:root {
  --ink: #17211d;
  --muted: #5f6b65;
  --line: #d8dfda;
  --paper: #fbfcfa;
  --band: #eef3f0;
  --panel: #ffffff;
  --accent: #177d68;
  --accent-2: #b8552a;
  --accent-3: #354f9b;
  --next-accent: #177d68;
  --next-accent-2: #315ba7;
  --next-tint: #e8f4f0;
  --next-line: rgba(22, 131, 108, 0.24);
  --first-accent: #b8552a;
  --first-accent-2: #d48a32;
  --first-tint: #fff1e8;
  --first-line: rgba(184, 85, 42, 0.24);
  --shadow: 0 10px 22px rgba(26, 37, 32, 0.055);
  --font-main: Aptos, "Aptos Display", "Aptos Text", "Segoe UI", Arial, sans-serif;
  --page-gutter: clamp(2rem, 6vw, 6rem);
  --small-text-weight: 500;
}

* {
  box-sizing: border-box;
}

html {
  width: 100%;
  max-width: 100%;
  scroll-behavior: smooth;
  overflow-x: hidden;
}

body {
  width: 100%;
  min-width: 0;
  max-width: 100%;
  margin: 0;
  background: var(--paper);
  color: var(--ink);
  font-family: var(--font-main);
  line-height: 1.65;
  overflow-x: hidden;
}

main {
  width: 100%;
  max-width: 100%;
  overflow-x: hidden;
}

@supports (overflow: clip) {
  html,
  body,
  main {
    overflow-x: clip;
  }
}

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

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

.page-container {
  width: min(100%, calc(882px + var(--page-gutter) + var(--page-gutter)));
  max-width: 100%;
  margin-right: auto;
  margin-left: auto;
  padding-right: var(--page-gutter);
  padding-left: var(--page-gutter);
}

.page-container--wide {
  width: min(100%, calc(1062px + var(--page-gutter) + var(--page-gutter)));
}

.page-container--narrow {
  width: min(100%, calc(810px + var(--page-gutter) + var(--page-gutter)));
}

.site-nav {
  position: sticky;
  top: 0;
  z-index: 20;
  display: flex;
  align-items: center;
  justify-content: space-between;
  gap: 1rem;
  padding: 0.75rem var(--page-gutter);
  background: rgba(251, 252, 250, 0.94);
  border-bottom: 1px solid var(--line);
  backdrop-filter: blur(14px);
}

.site-nav__brand {
  font-family: var(--font-main);
  font-weight: 800;
  letter-spacing: 0;
  color: var(--ink);
}

.site-nav__toggle {
  display: inline-flex;
  width: 2.25rem;
  height: 2.25rem;
  align-items: center;
  justify-content: center;
  flex-direction: column;
  gap: 0.22rem;
  border: 1px solid var(--line);
  border-radius: 999px;
  background: var(--panel);
  color: var(--ink);
  cursor: pointer;
}

.site-nav__toggle span {
  display: block;
  width: 1rem;
  height: 2px;
  border-radius: 999px;
  background: currentColor;
}

.site-nav__links {
  position: absolute;
  top: calc(100% + 0.35rem);
  right: var(--page-gutter);
  z-index: 25;
  display: none;
  min-width: 15rem;
  max-width: calc(100vw - var(--page-gutter) - var(--page-gutter));
  flex-direction: column;
  align-items: stretch;
  gap: 0;
  padding: 0.45rem;
  border: 1px solid var(--line);
  border-radius: 0.85rem;
  background: rgba(251, 252, 250, 0.98);
  box-shadow: var(--shadow);
  backdrop-filter: blur(14px);
  color: var(--muted);
  font-size: 0.92rem;
  font-weight: 700;
}

.site-nav--open .site-nav__links {
  display: flex;
}

.site-nav__links a {
  padding: 0.55rem 0.65rem;
  border-bottom: 0;
  border-radius: 0.55rem;
}

.site-nav__links a:hover {
  color: var(--accent);
  background: var(--band);
  border-bottom-color: transparent;
}

.site-nav__research summary:hover {
  color: var(--accent);
  border-bottom-color: var(--accent);
}

.site-nav__research {
  position: absolute;
  top: 50%;
  left: 50%;
  color: var(--muted);
  font-size: 0.92rem;
  font-weight: 700;
  transform: translate(-50%, -50%);
}

.site-nav__research summary {
  display: inline-flex;
  align-items: center;
  gap: 0.35rem;
  padding: 0.25rem 0;
  border-bottom: 2px solid transparent;
  color: inherit;
  list-style: none;
  cursor: pointer;
}

.site-nav__research summary::-webkit-details-marker {
  display: none;
}

.site-nav__research summary::after {
  width: 0.42rem;
  height: 0.42rem;
  border-right: 1.5px solid currentColor;
  border-bottom: 1.5px solid currentColor;
  content: "";
  transform: translateY(-0.12rem) rotate(45deg);
}

.site-nav__research[open] summary {
  color: var(--accent);
  border-bottom-color: var(--accent);
}

.site-nav__research-menu {
  position: absolute;
  top: calc(100% + 0.52rem);
  left: 50%;
  z-index: 30;
  min-width: 9rem;
  padding: 0.35rem;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: rgba(251, 252, 250, 0.98);
  box-shadow: var(--shadow);
  transform: translateX(-50%);
}

.site-nav__research-menu a {
  display: block;
  padding: 0.45rem 0.58rem;
  border-bottom: 0;
  border-radius: 0.45rem;
}

.site-nav__research-menu a:hover {
  background: var(--band);
  border-bottom-color: transparent;
}

.hero-section {
  padding: 4.4rem 0 2.8rem;
  background: var(--paper);
}

.hero-grid {
  display: block;
}

.hero-copy {
  max-width: 1020px;
  margin: 0 auto;
  text-align: center;
  overflow-wrap: break-word;
}

.hero-copy h1 {
  max-width: 880px;
  margin: 0 auto;
  color: var(--ink);
  font-family: var(--font-main);
  font-size: 3.15rem;
  line-height: 1.03;
  letter-spacing: 0;
  overflow-wrap: break-word;
}

.factr-title {
  max-width: min(100%, 980px) !important;
  font-size: 2.36rem !important;
  line-height: 1.1 !important;
  letter-spacing: 0 !important;
  overflow-wrap: anywhere;
  text-wrap: balance;
}

.factr-title__line {
  display: block;
}

.factr-title__name {
  color: var(--ink);
  font-weight: 800;
  white-space: nowrap;
}

.factr-title__subtitle {
  color: #404443;
  font-weight: 700;
  overflow-wrap: anywhere;
}

@media (min-width: 841px) {
  .factr-title__line {
    white-space: nowrap;
  }
}

@media (max-width: 1100px) and (min-width: 841px) {
  .factr-title {
    font-size: 2rem !important;
  }
}

.paper-title {
  max-width: 900px;
  margin: 0.76rem auto 1.32rem;
  color: #404443;
  font-family: var(--font-main);
  font-size: clamp(1.24rem, 2.05vw, 2.02rem);
  font-weight: 400;
  line-height: 1.18;
  letter-spacing: 0;
  overflow-wrap: anywhere;
}

.hero-summary {
  max-width: 760px;
  margin: 1.25rem auto 1.35rem;
  color: #33413b;
  font-size: 1.16rem;
  line-height: 1.62;
}

.eyebrow {
  margin: 0 0 0.85rem;
  color: var(--accent-2);
  font-size: clamp(0.9rem, 1.45vw, 1.32rem);
  font-weight: 800;
  letter-spacing: 0.08em;
  text-transform: uppercase;
  overflow-wrap: anywhere;
}

.authors {
  max-width: 1120px;
  margin: 1.35rem auto 0;
  color: var(--muted);
  font-family: var(--font-main);
  font-size: clamp(0.98rem, 1.22vw, 1.15rem);
  line-height: 1.24;
  overflow-wrap: anywhere;
}

.author-row,
.affiliation-row {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  column-gap: clamp(1.55rem, 3.8vw, 4rem);
  row-gap: 0.08rem;
  margin: 0.05rem auto;
}

.author-row span {
  color: var(--ink);
  font-weight: 400;
}

.author-row a {
  text-decoration: underline;
  text-decoration-color: rgba(23, 125, 104, 0.42);
  text-decoration-thickness: 1.5px;
  text-underline-offset: 0.18em;
}

.author-row a:hover,
.author-row a:focus-visible {
  color: var(--accent);
  text-decoration-color: currentColor;
}

.author-row--bottom {
  column-gap: clamp(2rem, 4.6vw, 4.8rem);
}

.affiliation-row {
  margin-top: 0.72rem;
  column-gap: clamp(1.1rem, 3vw, 2.6rem);
  color: var(--ink);
  font-size: clamp(1rem, 1.38vw, 1.28rem);
  font-weight: 400;
}

.affiliation-row span {
  display: inline-flex;
  min-width: 0;
  align-items: center;
  justify-content: center;
  gap: 0.16rem;
}

.affiliation-logo {
  display: inline-block;
  width: auto;
  height: 2.28em;
  object-fit: contain;
}

.affiliation-logo--cmu {
  height: 2.55em;
  max-width: min(46vw, 15em);
}

.affiliation-logo--waseda {
  height: 2.34em;
  max-width: min(38vw, 12em);
}

.equal-note {
  margin: 0.35rem 0 0;
  color: var(--ink);
  font-size: clamp(0.98rem, 1.3vw, 1.2rem);
  font-weight: 400;
}

.authors strong {
  color: var(--ink);
  font-weight: 800;
}

.anchor-buttons {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 1rem;
  margin-top: 1.45rem;
}

.anchor-buttons a,
.anchor-buttons button {
  display: inline-flex;
  min-height: 3rem;
  align-items: center;
  justify-content: center;
  gap: 0.5rem;
  padding: 0.62rem 1.25rem;
  border: 1px solid #aebbb4;
  border-radius: 10px;
  background: #ffffff;
  color: var(--ink);
  font: inherit;
  font-size: clamp(1rem, 1.35vw, 1.18rem);
  font-weight: 800;
  line-height: 1.2;
  appearance: none;
  cursor: default;
}

.anchor-buttons a:hover,
.anchor-buttons button:hover {
  border-color: var(--ink);
}

.button-icon {
  display: inline-flex;
  width: 1.05em;
  height: 1.05em;
  align-items: center;
  justify-content: center;
  flex: 0 0 auto;
}

.button-icon svg {
  display: block;
  width: 100%;
  height: 100%;
  fill: currentColor;
}

.hero-media {
  display: grid;
  grid-template-columns: 1fr 1fr;
  gap: 0.85rem;
  width: 100%;
  max-width: 1120px;
  margin: 1.4rem auto 0;
}

.hero-video {
  margin: 0;
  overflow: hidden;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: #0e1110;
  box-shadow: var(--shadow);
}

.hero-video--large {
  grid-column: 1 / -1;
}

.hero-video video {
  display: block;
  width: 100%;
  aspect-ratio: 16 / 9;
  object-fit: cover;
  background: #0e1110;
}

.hero-video--large video {
  aspect-ratio: 17 / 10;
}

.highlight-rows {
  display: grid;
  gap: clamp(1.45rem, 2.6vw, 2.1rem);
  margin-top: 0;
}

.highlight-section-heading {
  margin: 0 auto clamp(1rem, 2vw, 1.35rem);
  text-align: center;
}

.highlight-section-heading h2 {
  margin: 0;
  color: var(--ink);
  font-family: var(--font-main);
  font-size: clamp(1.55rem, 2.7vw, 2.2rem);
  font-weight: 800;
  line-height: 1.12;
}

.highlight-rows--paired {
  position: relative;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  align-items: start;
  gap: clamp(1.1rem, 2.4vw, 1.75rem);
}

.highlight-rows--paired::before {
  position: absolute;
  top: 0;
  bottom: 0;
  left: 50%;
  width: 1px;
  background: var(--line);
  content: "";
  pointer-events: none;
  transform: translateX(-50%);
}

.highlight-row {
  --track-accent: var(--next-accent);
  --track-tint: var(--next-tint);
  --track-line: var(--next-line);
  display: grid;
  gap: clamp(0.24rem, 0.45vw, 0.4rem);
  min-width: 0;
  align-content: start;
  padding-top: 0.58rem;
  border-top: 3px solid var(--track-accent);
  background: linear-gradient(180deg, var(--track-tint), transparent 34%);
}

.highlight-row:nth-child(2) {
  --track-accent: var(--first-accent);
  --track-tint: var(--first-tint);
  --track-line: var(--first-line);
}

.highlight-row-heading {
  min-width: 0;
  text-align: center;
}

.highlight-rows--paired .highlight-row-heading {
  display: grid;
  min-height: clamp(3.25rem, 4.7vw, 3.85rem);
  align-content: start;
}

.highlight-row-heading h3 {
  margin: 0;
  color: var(--track-accent);
  font-family: var(--font-main);
  font-size: clamp(1.18rem, 1.75vw, 1.65rem);
  font-weight: 700;
  line-height: 1.12;
  overflow-wrap: normal;
  word-break: keep-all;
  text-wrap: balance;
}

.highlight-row-heading h3.highlight-row-title--single-line {
  font-size: 1.42rem;
  white-space: nowrap;
  text-wrap: nowrap;
}

.acronym-title {
  display: inline;
}

.method-label {
  color: var(--track-accent);
  font-weight: 900;
}

.acronym-word {
  white-space: nowrap;
}

.acronym-letter {
  color: var(--track-accent);
  font-weight: 900;
}

.highlight-row-heading p {
  max-width: 100%;
  margin: 0.24rem auto 0;
  color: var(--muted);
  font-size: clamp(0.82rem, 0.96vw, 0.94rem);
  font-weight: var(--small-text-weight);
  line-height: 1.28;
  overflow-wrap: anywhere;
  text-wrap: balance;
  white-space: normal;
}

.highlight-checklist {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 0.34rem 0.85rem;
  max-width: 620px;
  margin: 0.5rem auto 0;
  padding: 0;
  color: var(--muted);
  font-size: clamp(0.92rem, 1.18vw, 1.05rem);
  font-weight: 700;
  line-height: 1.35;
  list-style: none;
}

.highlight-checklist li {
  display: inline-flex;
  align-items: center;
  gap: 0.36rem;
}

.highlight-checklist li::before {
  content: "\2713";
  color: var(--accent);
  font-weight: 900;
}

.highlight-video-row {
  display: grid;
  grid-template-columns: repeat(3, minmax(0, 1fr));
  gap: clamp(0.75rem, 1.5vw, 1.05rem);
}

.highlight-video-row--single {
  grid-template-columns: 1fr;
  gap: clamp(0.72rem, 1.2vw, 0.92rem);
}

.highlight-frame {
  aspect-ratio: 16 / 9;
}

.highlight-frame--piper {
  aspect-ratio: 8 / 7;
}

.highlight-carousel {
  position: relative;
}

.highlight-carousel-button {
  position: absolute;
  top: 50%;
  z-index: 4;
  display: inline-flex;
  width: clamp(2.35rem, 3.2vw, 2.72rem);
  height: clamp(2.35rem, 3.2vw, 2.72rem);
  align-items: center;
  justify-content: center;
  border: 2px solid rgba(255, 255, 255, 0.9);
  border-radius: 999px;
  background: rgba(0, 0, 0, 0.68);
  color: #fff;
  font: inherit;
  font-size: clamp(1.58rem, 2.45vw, 1.95rem);
  font-weight: 900;
  line-height: 1;
  cursor: pointer;
  transform: translateY(-50%);
  box-shadow: 0 7px 18px rgba(0, 0, 0, 0.28);
  transition: background 160ms ease, border-color 160ms ease, transform 160ms ease;
}

.highlight-carousel-button:hover,
.highlight-carousel-button:focus-visible {
  border-color: #fff;
  background: rgba(23, 125, 104, 0.9);
  transform: translateY(-50%) scale(1.07);
}

.highlight-carousel-button span {
  display: grid;
  width: 100%;
  height: 100%;
  place-items: center;
  line-height: 1;
  transform: translateY(-0.14em);
}

.highlight-carousel-button--prev {
  left: 0.72rem;
}

.highlight-carousel-button--next {
  right: 0.72rem;
}

.highlight-video-stack {
  gap: clamp(0.42rem, 0.8vw, 0.58rem);
}

.highlight-actions {
  display: flex;
  justify-content: center;
  margin-top: 0.1rem;
}

.read-more-link {
  display: inline-flex;
  min-height: 2.45rem;
  align-items: center;
  justify-content: center;
  gap: 0.35rem;
  padding: 0.42rem 0.88rem;
  border: 1px solid var(--line);
  border-radius: 999px;
  background: var(--panel);
  color: var(--ink);
  font-size: 0.92rem;
  font-weight: 800;
  line-height: 1;
}

.read-more-link:hover {
  border-color: var(--accent);
  color: var(--accent);
}

.highlight-card {
  box-shadow: var(--shadow);
  border-color: var(--track-line);
}

.highlight-card .media-frame video {
  object-fit: cover;
}

.highlight-frame--autonomous-label::after {
  position: absolute;
  right: 0.55rem;
  top: 0.45rem;
  z-index: 2;
  padding: 0.28rem 0.42rem;
  border-radius: 4px;
  background: rgba(0, 0, 0, 0.58);
  color: #fff;
  font-size: clamp(0.72rem, 0.95vw, 0.88rem);
  font-weight: 900;
  line-height: 1;
  text-shadow: 0 1px 5px rgba(0, 0, 0, 0.72);
  content: var(--autonomous-label, "Autonomous 2X");
  pointer-events: none;
}

.highlight-frame--autonomous-label-4x {
  --autonomous-label: "Autonomous 4X";
}

.highlight-frame--tool-cleanup video {
  object-position: center 76%;
}

.highlight-card--zoom .media-frame video {
  transform: scale(1.035);
  transform-origin: center;
}

@media (min-width: 841px) {
  .highlight-frame--stacked {
    aspect-ratio: 16 / 6.85;
  }
}

.section.abstract-section {
  padding: 2.5rem 0 2.2rem;
  border-top: 1px solid var(--line);
  border-bottom: 1px solid var(--line);
  background: var(--panel);
  scroll-margin-top: 4.5rem;
}

.abstract-copy {
  max-width: 900px;
  margin: 0 auto;
}

.abstract-copy p:not(.method-kicker) {
  margin: 0.45rem 0 0;
  color: var(--ink);
  font-size: clamp(1rem, 1.3vw, 1.12rem);
  line-height: 1.72;
  text-align: justify;
  text-align-last: left;
}

.abstract-copy strong {
  color: var(--ink);
  font-weight: 800;
}

.video-card.abstract-teaser {
  width: min(100%, 760px);
  max-width: 760px;
  margin: 1.45rem auto 0;
  background: #0e1110;
}

.abstract-teaser-frame {
  aspect-ratio: 16 / 9;
  background: #0e1110;
}

.click-play-frame:not(.is-playing) {
  cursor: pointer;
}

.click-play-frame:not(.is-playing) .click-play-button {
  opacity: 1;
  pointer-events: auto;
}

.click-play-button {
  position: absolute;
  left: 50%;
  top: 50%;
  z-index: 2;
  display: grid;
  width: clamp(58px, 8vw, 82px);
  height: clamp(58px, 8vw, 82px);
  place-items: center;
  padding: 0;
  color: #fff;
  background: rgba(14, 17, 16, 0.72);
  border: 1px solid rgba(255, 255, 255, 0.5);
  border-radius: 50%;
  box-shadow: 0 12px 30px rgba(0, 0, 0, 0.22);
  cursor: pointer;
  transform: translate(-50%, -50%);
  transition: opacity 160ms ease, background 160ms ease, transform 160ms ease;
}

.click-play-frame:not(.is-playing):hover .click-play-button,
.click-play-button:hover,
.click-play-button:focus-visible {
  background: rgba(23, 125, 104, 0.9);
  transform: translate(-50%, -50%) scale(1.04);
}

.click-play-button svg {
  width: 45%;
  height: 45%;
  margin-left: 5%;
  fill: currentColor;
}

.click-play-frame.is-playing .click-play-button {
  opacity: 0;
  pointer-events: none;
}

@media (hover: none) {
  .click-play-button {
    z-index: 5;
    width: clamp(62px, 17vw, 86px);
    height: clamp(62px, 17vw, 86px);
    background: rgba(14, 17, 16, 0.78);
  }

  .click-play-frame:not(.is-playing) .click-play-button {
    display: grid;
    opacity: 1;
    visibility: visible;
  }
}

.section {
  padding: 3.6rem 0;
}

#bibtex {
  padding-top: 1.8rem;
}

.section-tight {
  padding-top: 1.2rem;
}

.section-muted {
  background: var(--band);
}

.method-section {
  scroll-margin-top: 4.5rem;
}

#next {
  --section-accent: var(--next-accent);
  --section-accent-2: var(--next-accent-2);
  --section-tint: var(--next-tint);
  --section-line: var(--next-line);
}

#first {
  --section-accent: var(--first-accent);
  --section-accent-2: var(--first-accent-2);
  --section-tint: var(--first-tint);
  --section-line: var(--first-line);
}

.method-section-heading {
  max-width: 1160px;
  margin: 0 auto clamp(1.8rem, 3.6vw, 2.7rem);
  text-align: center;
}

.method-section-heading::after {
  display: block;
  width: 3.4rem;
  height: 2px;
  margin: 0.78rem auto 0;
  border-radius: 999px;
  background: var(--section-line, var(--line));
  content: "";
}

.method-kicker {
  margin: 0 0 0.35rem;
  color: var(--section-accent, var(--muted));
  font-size: 0.86rem;
  font-weight: 900;
  letter-spacing: 0.11em;
  line-height: 1.2;
  text-transform: uppercase;
}

.method-token--next {
  color: var(--next-accent);
}

.method-title-accent {
  color: var(--section-accent, var(--accent));
  font-weight: 900;
}

.nowrap {
  white-space: nowrap;
}

.method-section-heading h2 {
  margin: 0;
  color: var(--ink);
  font-family: var(--font-main);
  font-size: clamp(1.85rem, 3.3vw, 2.7rem);
  line-height: 1.1;
  letter-spacing: 0;
  overflow-wrap: anywhere;
}

.method-section-heading p:not(.method-kicker) {
  max-width: none;
  margin: 0.55rem auto 0;
  color: var(--muted);
  font-size: clamp(0.98rem, 1.35vw, 1.12rem);
  font-weight: var(--small-text-weight);
  line-height: 1.55;
}

.subsection-block {
  margin-top: clamp(2rem, 4vw, 3rem);
}

.subsection-block:first-of-type {
  margin-top: 0;
}

.subsection-heading {
  max-width: 980px;
  margin: 0 auto 1rem;
  text-align: center;
}

.subsection-heading h3 {
  margin: 0;
  color: var(--ink);
  font-family: var(--font-main);
  font-size: clamp(1.32rem, 2.35vw, 1.95rem);
  line-height: 1.15;
  letter-spacing: 0;
  overflow-wrap: anywhere;
}

.subsection-heading p {
  max-width: 940px;
  margin: 0.42rem auto 0;
  color: var(--muted);
  font-size: 0.98rem;
  font-weight: var(--small-text-weight);
  line-height: 1.5;
}

.next-proof-block {
  display: grid;
  gap: clamp(1.05rem, 2.4vw, 1.55rem);
}

.next-claim {
  display: grid;
  justify-items: center;
  gap: 0.75rem;
  text-align: center;
}

.next-claim h3 {
  max-width: none;
  margin: 0;
  color: var(--ink);
  font-family: var(--font-main);
  font-size: clamp(1.32rem, 2.15vw, 1.9rem);
  font-weight: 800;
  line-height: 1.14;
  text-wrap: balance;
}

@media (min-width: 1040px) {
  .method-section-heading p:not(.method-kicker),
  .next-claim h3,
  .next-sensor-claim h3,
  .next-workflow-claim h3 {
    white-space: nowrap;
  }
}

.next-platform-chips {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 0.55rem;
}

.next-platform-chip {
  display: inline-flex;
  min-height: 2.2rem;
  align-items: center;
  justify-content: center;
  padding: 0.42rem 0.78rem;
  border: 1px solid var(--line);
  border-radius: 999px;
  background: var(--panel);
  color: var(--ink);
  font: inherit;
  font-size: 0.9rem;
  font-weight: 800;
  line-height: 1;
}

.next-platform-chip--active {
  border-color: var(--section-line, var(--line));
  background: var(--panel);
  color: var(--section-accent, var(--ink));
}

.next-platform-chip--muted {
  color: var(--muted);
}

.next-demo-grid {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: clamp(1rem, 2.4vw, 1.45rem);
}

.next-demo-grid--three {
  grid-template-columns: repeat(3, minmax(0, 1fr));
  gap: 0.65rem clamp(0.85rem, 1.8vw, 1.1rem);
}

.next-demo-grid--single {
  grid-template-columns: minmax(0, 32%);
  justify-content: center;
}

.next-demo-card {
  display: grid;
  gap: 0.65rem;
  min-width: 0;
}

.next-demo-heading {
  display: flex;
  align-items: center;
  justify-content: center;
}

.next-demo-heading--contact {
  grid-column: span 2;
  flex-wrap: wrap;
  gap: 0.55rem;
}

.next-baseline-toggle {
  display: inline-flex;
  min-height: 2.55rem;
  align-items: center;
  justify-content: center;
  padding: 0.62rem 1.05rem;
  border: 1px solid var(--next-line);
  border-radius: 999px;
  background: var(--panel);
  color: var(--next-accent);
  font: inherit;
  font-size: 0.96rem;
  font-weight: 800;
  line-height: 1;
  cursor: pointer;
}

.next-baseline-toggle:hover,
.next-baseline-toggle--active {
  border-color: var(--next-accent);
  background: var(--next-tint);
}

.next-baseline-actions {
  display: flex;
  justify-content: center;
  margin-top: clamp(0.85rem, 1.8vw, 1.2rem);
}

.next-baseline-panel {
  display: grid;
  gap: clamp(0.8rem, 1.7vw, 1.1rem);
  margin-top: clamp(0.85rem, 1.8vw, 1.25rem);
  padding-top: clamp(1rem, 2vw, 1.35rem);
  border-top: 1px solid var(--next-line);
}

.next-baseline-panel[hidden] {
  display: none;
}

.next-baseline-heading {
  text-align: center;
}

.next-baseline-heading h4,
.next-baseline-card h5 {
  margin: 0;
  color: var(--ink);
  font-family: var(--font-main);
  font-weight: 800;
  line-height: 1.2;
}

.next-baseline-heading h4 {
  font-size: clamp(1.05rem, 1.55vw, 1.28rem);
}

.next-baseline-heading p {
  margin: 0.22rem 0 0;
  color: var(--muted);
  font-size: 0.88rem;
  font-weight: var(--small-text-weight);
  line-height: 1.35;
}

.next-baseline-grid {
  display: grid;
  grid-template-columns: repeat(3, minmax(0, 1fr));
  gap: clamp(0.75rem, 1.6vw, 1.05rem);
}

.next-baseline-card {
  display: grid;
  gap: 0.5rem;
  min-width: 0;
}

.next-baseline-card h5 {
  font-size: clamp(0.9rem, 1vw, 1rem);
  text-align: center;
}

.next-demo-heading h3 {
  margin: 0;
  color: var(--ink);
  font-family: var(--font-main);
  font-size: clamp(1.05rem, 1.7vw, 1.3rem);
  font-weight: 800;
  line-height: 1.2;
}

.next-demo-frame {
  aspect-ratio: 8 / 7;
}

.next-demo-frame--wide {
  aspect-ratio: 16 / 9;
}

.next-demo-caption,
.next-sensor-caption {
  margin: 0;
  color: var(--muted);
  font-size: clamp(0.78rem, 0.96vw, 0.9rem);
  font-weight: var(--small-text-weight);
  line-height: 1.35;
  text-align: center;
}

.next-demo-caption--contact,
.next-sensor-caption--contact {
  grid-column: span 2;
}

.next-sensor-block {
  display: grid;
  gap: clamp(1rem, 2.2vw, 1.45rem);
  padding-top: clamp(1.45rem, 3vw, 2.1rem);
  border-top: 1px solid var(--line);
}

.next-sensor-claim {
  display: grid;
  justify-items: center;
  gap: 0.45rem;
  text-align: center;
}

.next-sensor-claim h3 {
  max-width: 900px;
  margin: 0;
  color: var(--ink);
  font-family: var(--font-main);
  font-size: clamp(1.35rem, 2.35vw, 2rem);
  font-weight: 800;
  line-height: 1.14;
  text-wrap: balance;
}

.next-sensor-claim p {
  max-width: 1040px;
  margin: 0;
  color: var(--muted);
  font-size: clamp(0.94rem, 1.24vw, 1.08rem);
  font-weight: var(--small-text-weight);
  line-height: 1.48;
}

.next-sensor-grid {
  display: grid;
  grid-template-columns: repeat(3, minmax(0, 1fr));
  gap: 0.65rem clamp(0.85rem, 1.8vw, 1.1rem);
}

.next-sensor-heading {
  text-align: center;
}

.next-sensor-heading--contact {
  grid-column: span 2;
}

.next-sensor-heading h3 {
  margin: 0;
  color: var(--ink);
  font-family: var(--font-main);
  font-size: clamp(1.02rem, 1.55vw, 1.26rem);
  font-weight: 800;
  line-height: 1.2;
}

.next-sensor-frame {
  aspect-ratio: 6 / 5;
}

.next-sensor-frame video {
  object-position: center top;
}

.next-workflow-block {
  display: grid;
  gap: clamp(1.05rem, 2.4vw, 1.65rem);
  padding-top: clamp(1.45rem, 3vw, 2.1rem);
  border-top: 1px solid var(--line);
}

.next-workflow-claim {
  text-align: center;
}

.next-workflow-claim h3 {
  margin: 0;
  color: var(--ink);
  font-family: var(--font-main);
  font-size: clamp(1.38rem, 2.45vw, 2rem);
  font-weight: 800;
  line-height: 1.14;
}

.next-workflow-claim p {
  max-width: 820px;
  margin: 0.55rem auto 0;
  color: var(--muted);
  font-size: clamp(0.92rem, 1.08vw, 1rem);
  font-weight: var(--small-text-weight);
  line-height: 1.45;
  text-wrap: pretty;
}

.next-workflow-steps {
  display: grid;
  grid-template-columns: minmax(0, 1fr) minmax(0, 2fr);
  gap: clamp(1.35rem, 3vw, 2.2rem);
  align-items: stretch;
  width: 100%;
  max-width: 1180px;
  margin: 0 auto;
}

.next-workflow-step {
  display: grid;
  align-content: start;
  gap: 0.58rem;
  justify-items: center;
  width: 100%;
  height: 100%;
  min-width: 0;
  padding-top: 1rem;
  border-top: 1px solid var(--next-line);
}

.next-step-label {
  margin: 0;
  color: var(--section-accent, var(--accent));
  font-size: clamp(1rem, 1.45vw, 1.24rem);
  font-weight: 900;
  letter-spacing: 0.08em;
  line-height: 1.2;
  text-align: center;
  text-transform: uppercase;
}

.next-workflow-step h3 {
  margin: 0;
  color: var(--ink);
  font-family: var(--font-main);
  font-size: clamp(1rem, 1.45vw, 1.24rem);
  font-weight: 800;
  line-height: 1.2;
  text-align: center;
  text-wrap: balance;
  white-space: normal;
}

.next-workflow-detail {
  max-width: 92%;
  margin: 0 auto;
  color: var(--muted);
  font-size: clamp(0.84rem, 1vw, 0.94rem);
  font-weight: 400;
  line-height: 1.42;
  text-align: justify;
  text-align-last: left;
}

.next-workflow-pair {
  display: grid;
  grid-template-columns: minmax(0, 1fr);
  gap: clamp(0.38rem, 0.85vw, 0.62rem);
  align-items: center;
  justify-content: center;
  width: min(100%, 23rem);
  min-width: 0;
}

.next-workflow-pair--deployment {
  grid-template-columns: minmax(0, 1.08fr) minmax(0, 0.92fr);
  gap: clamp(0.55rem, 1.15vw, 0.85rem);
  width: 100%;
}

.next-workflow-idm {
  display: grid;
  gap: 0.85rem;
  justify-items: center;
  margin: 0;
  min-width: 0;
}

.next-workflow-idm img {
  display: block;
  width: 100%;
  max-width: 100%;
  object-fit: contain;
}

.next-workflow-idm p {
  max-width: 100%;
  margin: 0;
  color: var(--muted);
  font-size: clamp(0.88rem, 1vw, 0.98rem);
  font-weight: 400;
  line-height: 1.38;
  text-align: justify;
  text-align-last: left;
}

.next-workflow-note {
  max-width: 1080px;
  margin: 0.15rem auto 0;
  color: var(--ink);
  font-size: clamp(1.1rem, 1.55vw, 1.32rem);
  font-weight: var(--small-text-weight);
  line-height: 1.38;
  text-align: center;
}

.next-realtime-panel {
  display: grid;
  justify-items: center;
  width: 100%;
  max-width: 840px;
  margin: 0 auto;
  padding-top: clamp(0.85rem, 1.8vw, 1.2rem);
}

.next-realtime-panel[hidden] {
  display: none;
}

.next-realtime-card {
  width: 100%;
}

.next-realtime-caption {
  margin-top: 0.62rem;
  color: var(--ink);
  font-size: clamp(1.1rem, 1.55vw, 1.32rem);
  font-weight: var(--small-text-weight);
  line-height: 1.38;
  text-align: center;
}

.next-realtime-frame {
  background: #070908;
  aspect-ratio: 16 / 9;
}

.next-realtime-frame video {
  width: 100%;
  height: 100%;
  object-fit: contain;
}

.next-workflow-video-card {
  justify-self: stretch;
}

.next-workflow-media video {
  object-fit: contain;
}

.next-workflow-media--wide {
  aspect-ratio: 15 / 9;
}

.next-workflow-media--wide video {
  width: 100%;
  max-width: 100%;
  object-fit: cover;
  object-position: 58% center;
}

.next-workflow-media--tall {
  aspect-ratio: 8 / 7;
}

.next-workflow-media--network {
  display: grid;
  width: 100%;
  place-items: center;
  justify-self: center;
  overflow: visible;
  background: transparent;
  aspect-ratio: 16 / 9;
}

.network-stack {
  display: grid;
  gap: 0.38rem;
  justify-items: center;
  width: 100%;
}

.network-card {
  display: grid;
  align-items: center;
  justify-items: center;
  margin: 0;
  width: min(100%, 92%);
  overflow: hidden;
  padding: clamp(0.14rem, 0.35vw, 0.24rem) 0 clamp(1.3rem, 2.2vw, 1.8rem);
  border: 1px solid var(--line);
  border-bottom: 3px solid var(--section-line);
  border-radius: 8px;
  background: #ffffff;
  box-shadow: 0 7px 16px rgba(26, 37, 32, 0.035);
  aspect-ratio: 3.4 / 1;
}

.network-card img {
  display: block;
  width: 100%;
  max-height: 82%;
  object-fit: contain;
}

.next-workflow-caption {
  max-width: 92%;
  margin: 0 auto;
  color: var(--muted);
  font-size: clamp(0.78rem, 1vw, 0.9rem);
  font-weight: var(--small-text-weight);
  line-height: 1.35;
  text-align: center;
}

.next-workflow-caption strong {
  color: var(--next-accent);
  font-weight: 900;
}

.section-heading {
  max-width: 820px;
  margin-bottom: 1.5rem;
}

.section-heading h2 {
  margin: 0;
  font-family: var(--font-main);
  font-size: 2.05rem;
  line-height: 1.14;
  letter-spacing: 0;
}

.section-heading p:not(.eyebrow) {
  margin-top: 0.8rem;
  color: var(--muted);
  font-size: 1.02rem;
  font-weight: var(--small-text-weight);
}

.gallery-heading {
  max-width: 920px;
  margin: 0 auto 1.1rem;
  text-align: center;
}

.gallery-heading h2 {
  margin: 0;
  font-family: var(--font-main);
  font-size: clamp(1.52rem, 2.75vw, 2.12rem);
  line-height: 1.12;
  letter-spacing: 0;
}

.gallery-heading p {
  margin: 0.45rem 0 0;
  color: var(--muted);
  font-size: 0.98rem;
  font-weight: var(--small-text-weight);
}

.mini-overview {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 0.8rem;
  max-width: 860px;
  margin: 1.2rem auto 0;
}

.mini-overview article {
  display: grid;
  gap: 0.1rem;
  padding: 0.9rem 1rem;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: #ffffff;
  text-align: center;
}

.mini-overview strong {
  color: var(--accent);
  font-family: var(--font-main);
  font-size: 1.05rem;
  font-weight: 900;
}

.mini-overview span {
  color: var(--muted);
  font-size: 0.93rem;
}

.paper-copy {
  color: #26352f;
  font-size: 1.05rem;
}

.paper-copy p {
  margin-bottom: 1rem;
}

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

.method-panel {
  min-height: 100%;
  padding: 1.25rem;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: var(--panel);
}

.method-index {
  margin: 0 0 0.7rem;
  color: var(--accent-3);
  font-family: var(--font-main);
  font-size: 0.84rem;
  font-weight: 900;
}

.method-panel h3,
.contact-copy h3,
.platform-heading h3,
.task-copy h3 {
  margin: 0;
  color: var(--ink);
  font-family: var(--font-main);
  font-size: 1.32rem;
  line-height: 1.2;
  letter-spacing: 0;
}

.method-panel p:last-child,
.contact-copy p,
.platform-heading p,
.task-copy p {
  color: var(--muted);
}

.contact-context {
  display: grid;
  grid-template-columns: minmax(260px, 0.75fr) minmax(0, 1.25fr);
  gap: 1.25rem;
  align-items: start;
  margin-top: 2rem;
  padding-top: 2rem;
  border-top: 1px solid var(--line);
}

.phase-row {
  display: flex;
  flex-wrap: wrap;
  gap: 0.45rem;
  margin-top: 1rem;
}

.phase-row span {
  display: inline-flex;
  min-height: 2rem;
  align-items: center;
  padding: 0.35rem 0.55rem;
  border-radius: 8px;
  background: #ffffff;
  color: var(--ink);
  font-size: 0.82rem;
  font-weight: 900;
}

.phase-row span:nth-child(1) {
  border: 1px solid #8fb0dc;
}

.phase-row span:nth-child(2) {
  border: 1px solid #d7a15d;
}

.phase-row span:nth-child(3) {
  border: 1px solid #e58c8c;
}

.contact-media {
  display: grid;
  gap: 0.9rem;
}

.contact-media--wide {
  max-width: 1120px;
  margin: 0 auto;
}

.contact-media--split {
  grid-template-columns: minmax(0, 2fr) auto minmax(0, 1fr);
  grid-template-areas:
    "left-title . right-title"
    "left-media arrow right-media"
    "left-caption . right-caption";
  align-items: start;
  gap: 0.55rem clamp(0.9rem, 2vw, 1.25rem);
}

.contact-phase-title {
  display: flex;
  min-height: 2.35rem;
  align-items: flex-end;
  justify-content: center;
  gap: 0.25em;
  margin: 0;
  color: var(--ink);
  font-size: clamp(0.76rem, 0.96vw, 0.9rem);
  font-weight: 900;
  line-height: 1.28;
  text-align: center;
  white-space: nowrap;
}

.contact-phase-title--left {
  grid-area: left-title;
}

.contact-phase-title--right {
  grid-area: right-title;
}

.contact-media-item--left {
  grid-area: left-media;
}

.contact-media-item--right {
  grid-area: right-media;
}

.contact-phase-caption {
  margin: 0;
  color: var(--muted);
  font-size: clamp(0.74rem, 0.92vw, 0.86rem);
  font-weight: var(--small-text-weight);
  line-height: 1.32;
  text-align: center;
  white-space: nowrap;
}

.contact-phase-caption--left {
  grid-area: left-caption;
}

.contact-phase-caption--right {
  grid-area: right-caption;
}

.contact-flow-arrow {
  grid-area: arrow;
  display: grid;
  width: 2.4rem;
  height: 100%;
  min-height: 100%;
  align-self: stretch;
  justify-self: center;
  place-items: center;
  margin: 0;
  color: var(--ink);
  font-size: clamp(2rem, 3vw, 2.5rem);
  font-weight: 800;
  line-height: 1;
}

.contact-flow-arrow::before {
  content: "\2192";
}

.contact-labeling-frame {
  background: #ffffff;
}

.contact-labeling-frame video {
  object-fit: contain;
  filter: none;
  opacity: 1;
  mix-blend-mode: normal;
}

.contact-image-card {
  display: block;
}

.contact-image-frame {
  display: grid;
  place-items: center;
  overflow: hidden;
  background: #ffffff;
  aspect-ratio: 986 / 648;
}

.contact-image-frame img {
  display: block;
  width: 100%;
  height: 100%;
  object-fit: contain;
  object-position: center;
}

.video-grid {
  display: grid;
  gap: 1rem;
}

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

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

.platform-block {
  margin-top: 1.8rem;
}

.platform-heading {
  display: flex;
  align-items: end;
  justify-content: space-between;
  gap: 1rem;
  margin-bottom: 0.85rem;
  padding-bottom: 0.85rem;
  border-bottom: 1px solid var(--line);
}

.compact-heading {
  justify-content: center;
  padding-bottom: 0.55rem;
  text-align: center;
}

.platform-heading p {
  max-width: 660px;
  margin: 0;
}

.video-card,
.plot-card {
  margin: 0;
  width: 100%;
  overflow: hidden;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: var(--panel);
}

.media-frame {
  position: relative;
  width: 100%;
  overflow: hidden;
  background: var(--panel);
}

.media-frame video {
  display: block;
  width: 100%;
  height: 100%;
  object-fit: cover;
  background: var(--panel);
}

.teleop-frame {
  aspect-ratio: 8 / 7;
}

.wide-frame {
  aspect-ratio: 16 / 9;
}

.insertion-frame {
  aspect-ratio: 7 / 5;
}

.panorama-frame {
  aspect-ratio: 3.05 / 1;
}

.plot-card img {
  display: block;
  width: 100%;
  background: #ffffff;
}

.first-task-grid {
  display: grid;
  grid-template-columns: repeat(6, minmax(0, 1fr));
  gap: clamp(1rem, 2.2vw, 1.35rem);
}

.first-task-card {
  display: grid;
  grid-column: span 2;
  gap: 0.68rem;
  min-width: 0;
  padding-top: 1rem;
  border-top: 1px solid var(--line);
}

.first-task-card:nth-child(1) {
  grid-column: 2 / span 2;
}

.first-task-heading {
  text-align: center;
}

.first-task-heading h3 {
  margin: 0;
  color: var(--ink);
  font-family: var(--font-main);
  font-size: clamp(1.08rem, 1.7vw, 1.34rem);
  font-weight: 800;
  line-height: 1.16;
}

.first-task-frame {
  aspect-ratio: 16 / 9;
}

.first-task-layout {
  display: grid;
  grid-template-columns: minmax(0, 1.45fr) minmax(240px, 0.82fr);
  gap: clamp(1rem, 2.2vw, 1.55rem);
  align-items: stretch;
}

.task-clip {
  display: grid;
  gap: 0.42rem;
  min-width: 0;
  align-content: start;
}

.task-clip-label {
  margin: 0;
  color: var(--ink);
  font-family: var(--font-main);
  font-size: clamp(0.82rem, 0.95vw, 0.95rem);
  font-weight: 850;
  line-height: 1.1;
  text-align: center;
}

.task-side-clips {
  display: grid;
  grid-template-rows: repeat(2, minmax(0, 1fr));
  gap: clamp(0.75rem, 1.5vw, 1rem);
  min-width: 0;
}

.task-secondary {
  box-shadow: 0 7px 16px rgba(14, 39, 31, 0.055);
}

.task-showcase-block {
  display: grid;
  gap: clamp(0.75rem, 1.3vw, 0.95rem);
  margin-top: clamp(1.6rem, 3vw, 2.2rem);
  padding-top: clamp(1.1rem, 2vw, 1.45rem);
  border-top: 1px solid var(--line);
}

.task-combined-block {
  display: grid;
  gap: clamp(0.85rem, 1.6vw, 1.1rem);
  margin-top: clamp(1.8rem, 3.2vw, 2.35rem);
  padding-top: clamp(1.1rem, 2vw, 1.45rem);
  border-top: 1px solid var(--line);
}

.task-combined-card {
  width: min(70%, 820px);
  margin: 0 auto;
}

.task-showcase-heading {
  text-align: center;
}

.task-showcase-heading h4 {
  margin: 0;
  color: var(--section-accent, var(--first-accent));
  font-family: var(--font-main);
  font-size: clamp(1.12rem, 1.8vw, 1.45rem);
  font-weight: 900;
  line-height: 1.1;
}

.task-showcase-heading p {
  max-width: 980px;
  margin: 0.45rem auto 0;
  color: var(--muted);
  font-size: clamp(0.88rem, 1.05vw, 1rem);
  font-weight: var(--small-text-weight);
  line-height: 1.35;
}

.task-showcase-grid {
  display: grid;
  gap: clamp(0.85rem, 1.5vw, 1.05rem);
}

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

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

.task-showcase-grid--four {
  grid-template-columns: repeat(4, minmax(0, 1fr));
}

.task-showcase-actions {
  display: flex;
  justify-content: center;
}

.task-showcase-toggle {
  display: inline-flex;
  min-height: 2.4rem;
  align-items: center;
  justify-content: center;
  padding: 0.45rem 0.95rem;
  border: 1px solid var(--section-line, var(--line));
  border-radius: 999px;
  background: var(--panel);
  color: var(--section-accent, var(--ink));
  font: inherit;
  font-size: 0.9rem;
  font-weight: 850;
  line-height: 1;
  cursor: pointer;
}

.task-showcase-toggle:hover {
  border-color: var(--section-accent, var(--accent));
  background: var(--section-tint, var(--band));
}

.task-showcase-card {
  display: grid;
  gap: 0.52rem;
  min-width: 0;
}

.task-showcase-card[hidden] {
  display: none;
}

.task-showcase-card h5 {
  margin: 0;
  color: var(--ink);
  font-family: var(--font-main);
  font-size: clamp(0.92rem, 1.08vw, 1.05rem);
  font-weight: 850;
  line-height: 1.14;
  text-align: center;
}

.task-showcase-card p {
  margin: 0;
  color: var(--muted);
  font-size: clamp(0.78rem, 0.95vw, 0.9rem);
  font-weight: var(--small-text-weight);
  line-height: 1.28;
  text-align: center;
}

.task-row {
  display: grid;
  grid-template-columns: minmax(180px, 0.24fr) minmax(0, 1fr);
  gap: 1.25rem;
  align-items: start;
  padding: 1.8rem 0;
  border-top: 1px solid var(--line);
}

.task-row:last-child {
  border-bottom: 1px solid var(--line);
}

.task-copy {
  position: sticky;
  top: 5rem;
  text-align: right;
}

.task-copy p {
  margin: 0.55rem 0 0;
}

.task-number {
  margin: 0 0 0.55rem !important;
  color: var(--section-accent-2, var(--accent-3)) !important;
  font-family: var(--font-main);
  font-size: 0.78rem;
  font-weight: 900;
  letter-spacing: 0.08em;
  text-transform: uppercase;
}

.task-media {
  display: grid;
  gap: 0.9rem;
}

.task-primary {
  box-shadow: var(--shadow);
}

.success-pair {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 0.9rem;
}

.failure-strip {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 0.75rem;
}

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

.failure-strip--one {
  grid-template-columns: minmax(0, 0.55fr);
}

.failure-strip .video-card {
  box-shadow: none;
}

.bibtex-wrap {
  position: relative;
}

.bibtex-copy {
  position: absolute;
  top: 0.62rem;
  right: 0.62rem;
  z-index: 1;
  display: inline-flex;
  width: 2.15rem;
  height: 2.15rem;
  align-items: center;
  justify-content: center;
  padding: 0;
  border: 1px solid rgba(243, 247, 244, 0.22);
  border-radius: 6px;
  background: rgba(255, 255, 255, 0.08);
  color: #f3f7f4;
  font: inherit;
  cursor: pointer;
}

.bibtex-copy:hover {
  background: rgba(255, 255, 255, 0.14);
}

.bibtex-copy--copied {
  border-color: rgba(23, 125, 104, 0.72);
  background: rgba(23, 125, 104, 0.22);
}

.bibtex-copy--failed {
  border-color: rgba(184, 85, 42, 0.72);
  background: rgba(184, 85, 42, 0.22);
}

.bibtex-copy:focus-visible {
  outline: 2px solid rgba(243, 247, 244, 0.76);
  outline-offset: 2px;
}

.bibtex-copy__icon {
  display: block;
  width: 1.16rem;
  height: 1.16rem;
  fill: currentColor;
}

.bibtex-copy__icon--done {
  display: none;
}

.bibtex-copy--copied .bibtex-copy__icon--copy {
  display: none;
}

.bibtex-copy--copied .bibtex-copy__icon--done {
  display: block;
}

.bibtex {
  overflow-x: auto;
  margin: 0;
  padding: 1.1rem 3.5rem 1.1rem 1.1rem;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: #18211d;
  color: #f3f7f4;
  font-size: 0.9rem;
  line-height: 1.55;
}

.acknowledgements-section {
  border-top: 1px solid var(--line);
  background: var(--panel);
}

.acknowledgements-section p {
  margin: 0 auto;
  color: var(--muted);
  font-size: clamp(0.95rem, 1.08vw, 1.05rem);
  font-weight: var(--small-text-weight);
  line-height: 1.6;
  text-align: justify;
  text-align-last: left;
  text-wrap: pretty;
}

.support-placeholder {
  color: var(--ink);
  font-weight: 800;
}

@media (max-width: 1100px) {
  .contact-context,
  .task-row {
    grid-template-columns: 1fr;
  }

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

  .task-copy {
    position: static;
  }

  .platform-heading {
    display: block;
  }

  .platform-heading p {
    margin-top: 0.4rem;
  }
}

@media (max-width: 840px) {
  .site-nav {
    position: sticky;
    align-items: center;
    flex-direction: row;
    padding-top: 0.55rem;
    padding-bottom: 0.55rem;
  }

  .site-nav__toggle {
    display: inline-flex;
  }

  .site-nav__links {
    position: absolute;
    top: calc(100% + 0.35rem);
    right: var(--page-gutter);
    left: var(--page-gutter);
    display: none;
    flex-direction: column;
    align-items: stretch;
    gap: 0;
    padding: 0.45rem;
    border: 1px solid var(--line);
    border-radius: 0.85rem;
    background: rgba(251, 252, 250, 0.98);
    box-shadow: var(--shadow);
    backdrop-filter: blur(14px);
  }

  .site-nav--open .site-nav__links {
    display: flex;
  }

  .site-nav__links a {
    padding: 0.55rem 0.65rem;
    border-bottom: 0;
    border-radius: 0.55rem;
  }

  .site-nav__links a:hover {
    background: var(--band);
    border-bottom-color: transparent;
  }

  .site-nav__research {
    position: absolute;
    top: 50%;
    left: 50%;
    transform: translate(-50%, -50%);
  }

  .site-nav__research summary {
    display: inline-flex;
    padding: 0.25rem 0;
    border-bottom: 2px solid transparent;
    border-radius: 0;
  }

  .site-nav__research[open] summary {
    background: transparent;
    border-bottom-color: var(--accent);
  }

  .site-nav__research-menu {
    position: absolute;
    top: calc(100% + 0.52rem);
    left: 50%;
    min-width: 9rem;
    margin: 0;
    padding: 0.35rem;
    border: 1px solid var(--line);
    border-radius: 8px;
    background: rgba(251, 252, 250, 0.98);
    box-shadow: var(--shadow);
    transform: translateX(-50%);
  }

  .site-nav__research-menu a {
    padding: 0.45rem 0.58rem;
  }

  .hero-section {
    padding-top: 2.35rem;
  }

  .hero-copy h1 {
    font-size: 2.32rem;
    line-height: 1.08;
  }

  .factr-title {
    font-size: 2rem !important;
  }

  .section {
    padding: 3.25rem 0;
  }

  .section-heading h2 {
    font-size: 1.72rem;
  }

  .method-grid,
  .highlight-rows--paired,
  .highlight-video-row,
  .contact-media--split,
  .next-demo-grid,
  .next-baseline-grid,
  .next-sensor-grid,
  .next-workflow-steps,
  .first-task-grid,
  .first-task-layout,
  .task-showcase-grid--two,
  .task-showcase-grid--three,
  .task-showcase-grid--four,
  .video-grid--piper,
  .video-grid--franka,
  .success-pair,
  .failure-strip,
  .failure-strip--three,
  .failure-strip--one {
    grid-template-columns: 1fr;
  }

  .mini-overview {
    grid-template-columns: 1fr;
  }

  .task-side-clips {
    grid-template-rows: none;
  }

  .failure-strip--one {
    max-width: none;
  }

  .next-demo-heading--contact {
    grid-column: auto;
  }

  .next-sensor-heading--contact {
    grid-column: auto;
  }

  .next-demo-caption--contact,
  .next-sensor-caption--contact {
    grid-column: auto;
  }

  .highlight-rows--paired::before {
    display: none;
  }

  .highlight-rows--paired .highlight-row + .highlight-row {
    padding-top: 1.4rem;
    padding-left: 0;
    border-top: 1px solid var(--line);
    border-left: 0;
  }

  .highlight-rows--paired .highlight-row-heading {
    min-height: 0;
  }

  .first-task-card,
  .first-task-card:nth-child(1) {
    grid-column: auto;
  }

  .highlight-row-heading p {
    white-space: normal;
  }

  .next-workflow-step h3 {
    min-height: 0;
    white-space: normal;
  }

  .next-workflow-pair {
    grid-template-columns: minmax(0, 1fr);
    gap: clamp(0.32rem, 1.4vw, 0.5rem);
    width: 100%;
  }

  .next-workflow-pair--deployment {
    grid-template-columns: minmax(0, 1fr);
  }

  .task-combined-card {
    width: 100%;
  }

  .task-copy {
    text-align: left;
  }

  .contact-media--split {
    grid-template-areas:
      "left-title"
      "left-media"
      "left-caption"
      "arrow"
      "right-title"
      "right-media"
      "right-caption";
  }

  .contact-phase-title {
    min-height: 0;
    font-size: clamp(0.72rem, 2.7vw, 0.86rem);
    white-space: nowrap;
  }

  .contact-phase-caption {
    white-space: normal;
  }

  .contact-flow-arrow {
    width: 2.4rem;
    height: 2.4rem;
    margin: 0 auto;
    transform: rotate(90deg);
  }

  .contact-image-frame {
    aspect-ratio: 986 / 648;
  }
}

@media (max-width: 560px) {
  .factr-title {
    max-width: 350px !important;
    font-size: 1.56rem !important;
  }

  .factr-title__name {
    display: block;
  }

  .paper-title {
    max-width: 330px;
    font-size: 1.05rem;
    line-height: 1.16;
    overflow-wrap: anywhere;
  }

  .eyebrow {
    font-size: 0.76rem;
  }

  .authors {
    max-width: 350px;
    font-size: 0.84rem;
  }

  .author-row,
  .affiliation-row {
    column-gap: 1rem;
    row-gap: 0.25rem;
  }

  .affiliation-row,
  .equal-note {
    font-size: 0.98rem;
  }

  .affiliation-row span {
    gap: 0.12rem;
  }

  .affiliation-logo {
    height: 1.8em;
  }

  .anchor-buttons {
    gap: 0.55rem;
    margin-top: 1.4rem;
  }

  .anchor-buttons a,
  .anchor-buttons button {
    min-height: 2.9rem;
    font-size: 1.08rem;
  }

  .highlight-row-heading h3 {
    font-size: 1.18rem;
  }

  .highlight-row-heading h3.highlight-row-title--single-line {
    font-size: 1rem;
  }

  .method-section-heading h2 {
    font-size: 1.7rem;
  }

  .subsection-heading h3 {
    font-size: 1.35rem;
  }

  .hero-summary,
  .paper-copy {
    font-size: 1rem;
  }

  .hero-media {
    grid-template-columns: 1fr;
  }

  .hero-video--large {
    grid-column: auto;
  }

  .anchor-buttons a,
  .anchor-buttons button {
    width: 100%;
  }

  .panorama-frame {
    aspect-ratio: 16 / 9;
  }
}