/* =====================================================
   RESET & VARIABLES
===================================================== */
*, *::before, *::after { box-sizing: border-box; margin: 0; padding: 0; }

:root {
  --bg:        #f7f4ee;
  --bg-alt:    #ede8de;
  --bg-card:   #ffffff;
  --border:    #d8d0c4;
  --border-hi: #1a2a5e;

  --ink:       #111010;
  --ink2:      #3d3628;
  --ink3:      #7a7060;

  --navy:      #1a2a5e;
  --navy-mid:  #2e4080;
  --navy-light:#e8ecf8;

  --accent:    #b8341a; /* warm terracotta for highlights */

  --radius:    10px;
  --radius-sm: 6px;
  --shadow-sm: 0 2px 8px rgba(0,0,0,0.07);
  --shadow-md: 0 6px 24px rgba(0,0,0,0.10);
  --shadow-lg: 0 16px 56px rgba(0,0,0,0.12);
}

html { scroll-behavior: smooth; }

body {
  font-family: 'Inter', system-ui, sans-serif;
  background: var(--bg);
  color: var(--ink);
  line-height: 1.75;
  overflow-x: hidden;
}

/* =====================================================
   LAYOUT
===================================================== */
.container {
  max-width: 1080px;
  margin: 0 auto;
  padding: 0 48px;
}

section { padding: 88px 0; }
section:nth-child(even) { background: var(--bg-alt); }

/* =====================================================
   SIDEBAR NAV
===================================================== */
nav {
  position: fixed;
  top: 260px;
  left: max(20px, calc(50% - 540px - 180px));
  width: 160px;
  z-index: 100;
  display: flex;
  flex-direction: column;
  pointer-events: auto;
}
.nav-inner {
  display: flex;
  flex-direction: column;
}
.nav-logo {
  font-family: 'Playfair Display', serif;
  font-weight: 700;
  font-size: 1.3rem;
  color: var(--ink);
  text-decoration: none;
  letter-spacing: 0;
  margin-bottom: 14px;
  line-height: 1.2;
}
.nav-rule {
  width: 100%;
  height: 1px;
  background: var(--border);
  margin-bottom: 18px;
}
.nav-links {
  display: flex;
  flex-direction: column;
  gap: 0;
  list-style: none;
}
.nav-links a {
  color: var(--ink3);
  text-decoration: none;
  font-size: 0.82rem;
  font-weight: 400;
  letter-spacing: 0;
  text-transform: none;
  padding: 5px 0;
  display: block;
  transition: color 0.15s;
  line-height: 1.4;
}
.nav-links a:hover { color: var(--ink); }
.nav-links li.active > a { color: var(--ink); font-weight: 600; }

/* =====================================================
   HERO
===================================================== */
.hero {
  padding: 96px 28px 72px;
  text-align: center;
}

.venue-badge {
  display: inline-block;
  padding: 4px 16px;
  border: 1px solid var(--border);
  border-radius: 4px;
  font-size: 0.72rem;
  font-weight: 600;
  letter-spacing: 0.1em;
  text-transform: uppercase;
  color: var(--ink3);
  background: var(--bg-card);
  margin-bottom: 32px;
}

.hero h1 {
  font-family: 'Playfair Display', serif;
  font-size: clamp(2.4rem, 5.5vw, 4.2rem);
  font-weight: 700;
  line-height: 1.2;
  letter-spacing: 0;
  color: var(--ink);
  max-width: 900px;
  margin: 0 auto 28px;
}
.hero h1 .brand {
  color: var(--navy);
  font-size: clamp(2.4rem, 5vw, 4.2rem);
  display: block;
  line-height: 1.05;
  margin-bottom: 10px;
}
.hero h1 .subtitle-text {
  font-size: clamp(1.35rem, 2.6vw, 2.0rem);
  font-weight: 500;
  color: var(--ink2);
  display: block;
  line-height: 1.4;
}

.author-list {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 6px 24px;
  margin-bottom: 6px;
}
.author-list a {
  font-size: 1.18rem;
  font-weight: 500;
  color: var(--ink);
  text-decoration: none;
  border-bottom: 1px solid transparent;
  transition: border-color 0.2s, color 0.2s;
}
.author-list a:hover {
  color: var(--navy);
  border-color: var(--navy);
}

.affiliation {
  margin-top: 20px;
  margin-bottom: 36px;
}
.affiliation a {
  display: inline-block;
  text-decoration: none;
  opacity: 0.85;
  transition: opacity 0.2s;
}
.affiliation a:hover { opacity: 1; }
.affil-logo {
  height: 36px;
  width: auto;
  display: block;
  /* The PNG has a black background — mix-blend-mode removes it on the cream bg */
  mix-blend-mode: multiply;
}

.hero-links {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 10px;
  margin-bottom: 60px;
}

/* =====================================================
   BUTTONS
===================================================== */
.btn {
  display: inline-flex;
  align-items: center;
  gap: 7px;
  padding: 9px 22px;
  border-radius: 5px;
  font-size: 0.84rem;
  font-weight: 500;
  text-decoration: none;
  transition: all 0.18s;
  cursor: pointer;
  border: 1px solid transparent;
  letter-spacing: 0.01em;
}
.btn-primary {
  background: var(--navy);
  color: #fff;
  border-color: var(--navy);
  box-shadow: var(--shadow-sm);
}
.btn-primary:hover {
  background: var(--navy-mid);
  border-color: var(--navy-mid);
  box-shadow: var(--shadow-md);
  transform: translateY(-1px);
}
.btn-outline {
  background: var(--bg-card);
  color: var(--ink);
  border-color: var(--border);
  box-shadow: var(--shadow-sm);
}
.btn-outline:hover {
  background: var(--bg);
  border-color: var(--ink3);
  transform: translateY(-1px);
}
.btn svg { width: 16px; height: 16px; flex-shrink: 0; }

/* =====================================================
   HERO VIDEO
===================================================== */
.hero-video-wrap {
  max-width: 880px;
  margin: 0 auto;
  border-radius: 8px;
  overflow: hidden;
  border: 1px solid var(--border);
  box-shadow: var(--shadow-lg);
}
.hero-video-wrap video {
  width: 100%;
  display: block;
}
.caption {
  margin-top: 12px;
  font-size: 0.82rem;
  color: var(--ink3);
  font-style: italic;
  text-align: center;
}

.hero-tldr {
  margin-top: 24px;
  font-size: 1.05rem;
  font-weight: 600;
  color: var(--ink);
  text-align: center;
  max-width: 880px;
  margin-left: auto;
  margin-right: auto;
  line-height: 1.6;
}

/* =====================================================
   SECTION HEADINGS
===================================================== */
.sec-label {
  font-size: 0.7rem;
  font-weight: 600;
  letter-spacing: 0.14em;
  text-transform: uppercase;
  color: var(--accent);
  margin-bottom: 10px;
}
.sec-title {
  font-family: 'Playfair Display', serif;
  font-size: clamp(1.75rem, 3.5vw, 2.6rem);
  font-weight: 700;
  line-height: 1.2;
  color: var(--ink);
  margin-bottom: 14px;
  letter-spacing: 0;
}
.sec-rule {
  width: 48px; height: 2px;
  background: var(--navy);
  margin: 0 0 28px;
}
.sec-desc {
  font-size: 0.97rem;
  color: var(--ink2);
  max-width: 960px;
  line-height: 1.75;
}

/* =====================================================
   ABSTRACT
===================================================== */
.abstract-box {
  background: var(--bg-card);
  border: 1px solid var(--border);
  border-left: 4px solid var(--navy);
  border-radius: 0 var(--radius) var(--radius) 0;
  padding: 40px 48px;
  box-shadow: var(--shadow-sm);
}
.abstract-box p {
  font-size: 1rem;
  color: var(--ink2);
  line-height: 1.85;
}
.abstract-box strong { color: var(--ink); font-weight: 600; }

/* =====================================================
   CONTRIBUTIONS
===================================================== */
.contrib-grid {
  display: grid;
  grid-template-columns: repeat(3, 1fr);
  gap: 18px;
  margin-top: 40px;
}
.contrib-card {
  background: var(--bg-card);
  border: 1px solid var(--border);
  border-radius: var(--radius);
  padding: 26px 24px;
  box-shadow: var(--shadow-sm);
  transition: box-shadow 0.25s, transform 0.25s;
}
.contrib-card:hover {
  box-shadow: var(--shadow-md);
  transform: translateY(-3px);
}
.contrib-num {
  font-family: 'Playfair Display', serif;
  font-size: 2rem;
  font-weight: 400;
  color: var(--navy);
  opacity: 0.3;
  line-height: 1;
  margin-bottom: 12px;
}
.contrib-card h3 {
  font-size: 0.9rem;
  font-weight: 600;
  color: var(--ink);
  margin-bottom: 8px;
  line-height: 1.4;
}
.contrib-card p {
  font-size: 0.855rem;
  color: var(--ink3);
  line-height: 1.65;
}

/* =====================================================
   METHOD
===================================================== */
.method-paragraph {
  margin-top: 32px;
}
.method-paragraph p {
  font-size: 0.95rem;
  color: var(--ink);
  line-height: 1.85;
  max-width: 960px;
}

.pipeline-video-wrap {
  margin-top: 48px;
  border-radius: var(--radius);
  overflow: hidden;
  border: 1px solid var(--border);
  box-shadow: var(--shadow-md);
}
.pipeline-video-wrap video { width: 100%; display: block; }

.method-figures {
  display: flex;
  flex-direction: column;
  gap: 48px;
  margin-top: 48px;
}
.method-fig {
  margin: 0;
}
.method-fig img {
  width: 100%;
  display: block;
}
.method-fig figcaption {
  margin-top: 12px;
  font-size: 0.88rem;
  color: var(--ink-muted);
  line-height: 1.6;
  text-align: center;
}

/* =====================================================
   TABS + VIDEO COMPARISON
===================================================== */
.tab-bar {
  display: flex;
  flex-wrap: wrap;
  gap: 6px;
  margin-bottom: 20px;
  border-bottom: 1px solid var(--border);
  padding-bottom: 0;
}
.tab-btn {
  padding: 8px 16px;
  border: 1px solid transparent;
  border-bottom: none;
  border-radius: 5px 5px 0 0;
  background: transparent;
  color: var(--ink3);
  font-size: 0.82rem;
  font-weight: 500;
  cursor: pointer;
  transition: all 0.18s;
  position: relative;
  bottom: -1px;
  font-family: 'Inter', sans-serif;
}
.tab-btn:hover { color: var(--ink); background: var(--bg); }
.tab-btn.active {
  background: var(--bg-card);
  color: var(--navy);
  border-color: var(--border);
  border-bottom-color: var(--bg-card);
  font-weight: 600;
}
section:nth-child(even) .tab-btn.active {
  background: var(--bg-alt);
  border-bottom-color: var(--bg-alt);
}

.tab-panel {
  display: none;
}
.tab-panel.active {
  display: block;
}

.compare-grid {
  display: grid;
  gap: 12px;
}
.compare-grid.cols-3 { grid-template-columns: repeat(3, 1fr); }
.compare-grid.cols-2 { grid-template-columns: repeat(2, 1fr); max-width: 760px; }

.vid-card {
  border-radius: var(--radius-sm);
  overflow: hidden;
  border: 1px solid var(--border);
  background: var(--bg-card);
  box-shadow: var(--shadow-sm);
  transition: box-shadow 0.2s;
}
.vid-card:hover { box-shadow: var(--shadow-md); }
.vid-card video {
  width: 100%;
  display: block;
  aspect-ratio: 1 / 1;
  object-fit: cover;
  background: #eee;
}
.vid-label {
  padding: 8px 12px;
  font-size: 0.78rem;
  font-weight: 600;
  border-top: 1px solid var(--border);
  display: flex;
  align-items: center;
  gap: 6px;
  color: var(--ink2);
  letter-spacing: 0.02em;
}
.lbl-ours { color: var(--navy); }
.badge-ours {
  margin-left: auto;
  padding: 1px 7px;
  border-radius: 3px;
  background: var(--navy-light);
  color: var(--navy);
  font-size: 0.68rem;
  font-weight: 700;
  letter-spacing: 0.04em;
  text-transform: uppercase;
}

/* =====================================================
   METRICS TABLES
===================================================== */
.tbl-wrap {
  overflow-x: auto;
  border-radius: var(--radius);
  border: 1px solid var(--border);
  box-shadow: var(--shadow-sm);
  margin-top: 40px;
}
table {
  width: 100%;
  border-collapse: collapse;
  font-size: 0.86rem;
  background: var(--bg-card);
}
thead tr { background: var(--bg-alt); }
thead th {
  padding: 12px 16px;
  text-align: center;
  font-weight: 600;
  color: var(--ink2);
  font-size: 0.78rem;
  letter-spacing: 0.04em;
  text-transform: uppercase;
  border-bottom: 1px solid var(--border);
  white-space: nowrap;
}
thead th:first-child { text-align: left; }
tbody tr { border-bottom: 1px solid rgba(0,0,0,0.04); }
tbody tr:last-child { border-bottom: none; }
tbody tr:hover { background: rgba(26,42,94,0.03); }
tbody td {
  padding: 11px 16px;
  text-align: center;
  color: var(--ink3);
}
tbody td:first-child { text-align: left; color: var(--ink); }
.row-ours td:first-child { color: var(--navy); font-weight: 600; }
.best { color: var(--navy) !important; font-weight: 700; }
.tbl-caption {
  padding: 11px 16px;
  font-size: 0.79rem;
  color: var(--ink3);
  border-top: 1px solid var(--border);
  text-align: center;
  font-style: italic;
  background: var(--bg-alt);
}

/* =====================================================
   ROBOT SECTION
===================================================== */
.robot-grid {
  display: grid;
  grid-template-columns: repeat(3, 1fr);
  gap: 20px;
  margin-top: 40px;
}
.robot-card {
  background: var(--bg-card);
  border: 1px solid var(--border);
  border-radius: var(--radius);
  overflow: hidden;
  box-shadow: var(--shadow-sm);
  transition: box-shadow 0.25s, transform 0.25s;
}
.robot-card:hover {
  box-shadow: var(--shadow-md);
  transform: translateY(-3px);
}
.robot-card video {
  width: 100%;
  display: block;
  aspect-ratio: 1 / 1;
  object-fit: cover;
  background: #eee;
}
.robot-info { padding: 18px 20px; }
.robot-info h4 {
  font-size: 0.92rem;
  font-weight: 600;
  color: var(--ink);
  margin-bottom: 6px;
}
.robot-info p {
  font-size: 0.82rem;
  color: var(--ink3);
  line-height: 1.6;
}
.robot-metric {
  display: inline-flex;
  align-items: center;
  gap: 5px;
  margin-top: 10px;
  padding: 3px 10px;
  border-radius: 4px;
  background: var(--navy-light);
  color: var(--navy);
  font-size: 0.76rem;
  font-weight: 600;
  letter-spacing: 0.02em;
}

/* =====================================================
   BAR CHART
===================================================== */
.bar-chart-wrap {
  margin-top: 44px;
  background: var(--bg-card);
  border: 1px solid var(--border);
  border-radius: var(--radius);
  padding: 32px 36px;
  box-shadow: var(--shadow-sm);
}
.bar-chart-title {
  font-family: 'Playfair Display', serif;
  font-size: 1.1rem;
  font-weight: 600;
  color: var(--ink);
  text-align: center;
  margin-bottom: 28px;
}
.bar-chart-row {
  display: flex;
  align-items: center;
  gap: 14px;
  margin-bottom: 14px;
}
.bar-chart-label {
  width: 200px;
  font-size: 0.8rem;
  color: var(--ink2);
  flex-shrink: 0;
  text-align: right;
}
.bar-track {
  flex: 1;
  background: var(--bg-alt);
  border-radius: 3px;
  height: 22px;
  overflow: hidden;
}
.bar-fill {
  height: 100%;
  border-radius: 3px;
  transition: width 0.6s ease;
}
.bar-fill-navy { background: var(--navy); }
.bar-fill-light { background: #b8c3e0; }
.bar-val {
  width: 60px;
  font-size: 0.8rem;
  font-weight: 600;
  color: var(--ink2);
  flex-shrink: 0;
}
.bar-legend {
  display: flex;
  justify-content: center;
  gap: 24px;
  margin-top: 18px;
}
.bar-legend-item {
  display: flex;
  align-items: center;
  gap: 7px;
  font-size: 0.78rem;
  color: var(--ink3);
}
.bar-legend-dot {
  width: 12px; height: 12px;
  border-radius: 2px;
}

/* =====================================================
   ABLATION / SPEED TABLE
===================================================== */
.speed-table-wrap {
  margin-top: 36px;
  background: var(--bg-card);
  border: 1px solid var(--border);
  border-radius: var(--radius);
  padding: 28px 32px;
  box-shadow: var(--shadow-sm);
}
.speed-table-title {
  font-size: 0.9rem;
  font-weight: 600;
  color: var(--ink);
  margin-bottom: 20px;
}
.speed-row {
  display: flex;
  align-items: center;
  gap: 14px;
  margin-bottom: 10px;
}
.speed-label {
  width: 220px;
  font-size: 0.79rem;
  color: var(--ink2);
  flex-shrink: 0;
}
.speed-track {
  flex: 1;
  background: var(--bg-alt);
  border-radius: 3px;
  height: 20px;
  overflow: hidden;
}
.speed-fill { height: 100%; border-radius: 3px; }
.speed-fill-accent { background: var(--accent); }
.speed-fill-light { background: #c0b8aa; }
.speed-val {
  width: 64px;
  font-size: 0.79rem;
  font-weight: 600;
  color: var(--ink3);
  flex-shrink: 0;
}
.speed-val-accent { color: var(--accent) !important; font-weight: 700 !important; }

/* =====================================================
   DATASET
===================================================== */
.stat-row {
  display: flex;
  gap: 16px;
  flex-wrap: wrap;
  margin-top: 32px;
}
.stat-card {
  flex: 1;
  min-width: 130px;
  background: var(--bg-card);
  border: 1px solid var(--border);
  border-radius: var(--radius);
  padding: 20px 22px;
  text-align: center;
  box-shadow: var(--shadow-sm);
}
.stat-num {
  font-family: 'Playfair Display', serif;
  font-size: 2.1rem;
  font-weight: 400;
  color: var(--navy);
  line-height: 1;
  margin-bottom: 4px;
}
.stat-label { font-size: 0.79rem; color: var(--ink3); }

.dataset-grid {
  display: grid;
  grid-template-columns: repeat(4, 1fr);
  gap: 12px;
  margin-top: 32px;
}
.ds-item {
  border-radius: var(--radius-sm);
  overflow: hidden;
  border: 1px solid var(--border);
  background: var(--bg-card);
  box-shadow: var(--shadow-sm);
  transition: box-shadow 0.2s, transform 0.2s;
}
.ds-item:hover { box-shadow: var(--shadow-md); transform: scale(1.015); }
.ds-item video {
  width: 100%;
  display: block;
  aspect-ratio: 1 / 1;
  object-fit: cover;
  background: #eee;
}
.ds-label {
  padding: 7px 10px;
  font-size: 0.73rem;
  color: var(--ink3);
  text-align: center;
  border-top: 1px solid var(--border);
}

/* =====================================================
   BIBTEX
===================================================== */
.bibtex-wrap {
  position: relative;
  background: #1e1e2e;
  border-radius: var(--radius);
  padding: 32px 36px;
  box-shadow: var(--shadow-sm);
  overflow: hidden;
}
.bibtex-wrap pre {
  font-family: 'JetBrains Mono', monospace;
  font-size: 0.82rem;
  line-height: 1.85;
  color: #cdd6f4;
  overflow-x: auto;
  white-space: pre;
}
.bib-key   { color: #cba6f7; }
.bib-entry { color: #a6e3a1; }
.bib-field { color: #89b4fa; }
.bib-value { color: #f38ba8; }
.copy-btn {
  position: absolute;
  top: 14px; right: 14px;
  padding: 5px 14px;
  border-radius: 4px;
  background: rgba(255,255,255,0.06);
  border: 1px solid rgba(255,255,255,0.12);
  color: #cdd6f4;
  font-size: 0.76rem;
  cursor: pointer;
  transition: all 0.18s;
  font-family: 'Inter', sans-serif;
}
.copy-btn:hover { background: rgba(255,255,255,0.12); }

/* =====================================================
   FOOTER
===================================================== */
footer {
  background: var(--bg-alt);
  border-top: 1px solid var(--border);
  padding: 48px 0 36px;
  text-align: center;
}
footer .footer-logo {
  font-family: 'Playfair Display', serif;
  font-size: 1.4rem;
  font-weight: 400;
  color: var(--navy);
  margin-bottom: 12px;
}
footer p {
  font-size: 0.82rem;
  color: var(--ink3);
  line-height: 1.8;
}

/* =====================================================
   SCROLL REVEAL
===================================================== */
.reveal {
  opacity: 0;
  transform: translateY(24px);
  transition: opacity 0.65s ease, transform 0.65s ease;
}
.reveal.visible {
  opacity: 1;
  transform: translateY(0);
}
.delay-1 { transition-delay: 0.1s; }
.delay-2 { transition-delay: 0.2s; }
.delay-3 { transition-delay: 0.3s; }
.delay-4 { transition-delay: 0.4s; }

/* =====================================================
   DIVIDERS
===================================================== */
hr.thin {
  border: none;
  border-top: 1px solid var(--border);
  margin: 48px 0;
}

/* =====================================================
   RESPONSIVE
===================================================== */
@media (max-width: 860px) {
  .contrib-grid,
  .robot-grid { grid-template-columns: 1fr; }
  .compare-grid.cols-3 { grid-template-columns: repeat(2, 1fr); }
  .dataset-grid { grid-template-columns: repeat(2, 1fr); }
  .abstract-box { padding: 28px 24px; }
  .bar-chart-label { width: 130px; }
}
@media (max-width: 1100px) {
  nav { display: none; }
}
@media (max-width: 680px) {
  section { padding: 56px 0; }
  .compare-grid.cols-3,
  .compare-grid.cols-2 { grid-template-columns: 1fr; }
  .bar-chart-label { width: 100px; font-size: 0.72rem; }

  .hero h1 .brand { font-size: 3.4rem; }
  .hero h1 .subtitle-text { font-size: 1.55rem; }
  .author-list a { font-size: 0.92rem; }
  .author-list { gap: 4px 16px; }
  .affil-logo { height: 24px; }
  .hero .container { padding-left: 10px; padding-right: 10px; }
  .hero-video-wrap { margin-left: -10px; margin-right: -10px; border-radius: 4px; }
}