/* =========================================================================
   SelfWAM — project page
   Physical-Intelligence / next-forcing inspired. Roboto Mono on cream.
   ========================================================================= */

:root {
  --bg:        #f4f2ea;
  --bg-card:   #faf8f2;
  --bg-sunk:   #ece8dc;
  --ink:       #17150f;
  --ink-soft:  #54504a;
  --ink-mute:  #8c8678;
  --line:      #d9d3c4;
  --line-soft: #e6e1d4;

  --accent:    #df5a2b;   /* SelfWAM / ours */
  --accent-2:  #f0a98e;   /* ours, soft (ablation) */
  --blue:      #2f6fb2;   /* baseline / GT / FastWAM */
  --blue-2:    #aac4de;
  --gray:      #b9b3a4;   /* other baselines */
  --gray-2:    #d6d1c3;
  --good:      #1f8a70;

  --maxw: 1120px;
  --mono: 'Roboto Mono', 'JetBrains Mono', ui-monospace, SFMono-Regular, Menlo, monospace;

  --r-lg: 14px;
  --r-md: 10px;
  --r-sm: 7px;
  --r-bar: 4px;
}

* { box-sizing: border-box; }

html { scroll-behavior: smooth; -webkit-text-size-adjust: 100%; }

body {
  margin: 0;
  background: var(--bg);
  color: var(--ink);
  font-family: var(--mono);
  font-weight: 400;
  font-size: 15px;
  line-height: 1.65;
  letter-spacing: 0.01em;
  -webkit-font-smoothing: antialiased;
  text-rendering: optimizeLegibility;
}

a { color: inherit; text-underline-offset: 3px; }

a:focus-visible, button:focus-visible {
  outline: 2px solid var(--accent);
  outline-offset: 4px;
}

::selection { background: var(--accent); color: #fff; }

/* ---------------------------------------------------------------- layout */
.wrap { width: 100%; max-width: var(--maxw); margin: 0 auto; padding: 0 28px; }

section { padding: 88px 0; border-top: 1px solid var(--line-soft); scroll-margin-top: 56px; }
section:first-of-type { border-top: none; }

.eyebrow {
  font-size: 12px;
  font-weight: 500;
  letter-spacing: 0.22em;
  text-transform: uppercase;
  color: var(--accent);
  margin: 0 0 14px;
}
.eyebrow .dot { color: var(--ink-mute); margin: 0 .5em; }

h2.section-title {
  font-size: clamp(26px, 3.4vw, 40px);
  font-weight: 700;
  letter-spacing: -0.02em;
  line-height: 1.1;
  margin: 0 0 10px;
}
.section-tag {
  font-size: 17px;
  color: var(--ink-soft);
  margin: 0 0 34px;
  max-width: 70ch;
  font-weight: 400;
}
.lead { font-size: 16px; color: var(--ink-soft); max-width: 68ch; }

/* The headline-result section carries a stronger editorial hierarchy than
   figure captions and utility copy further down the page. */
#action .section-title {
  font-size: clamp(34px, 4vw, 46px);
  letter-spacing: -0.035em;
}
#action .section-tag {
  max-width: none;
  margin-bottom: 32px;
  color: var(--ink);
  font-size: clamp(18px, 2vw, 21px);
  font-weight: 500;
  letter-spacing: -0.015em;
}
#action .lead {
  max-width: 72ch;
  margin: 0 0 30px;
  padding-left: 20px;
  border-left: 2px solid var(--line);
  color: var(--ink-soft);
  font-size: 15px;
  line-height: 1.82;
}

/* ----------------------------------------------------------------- nav */
.nav {
  position: sticky; top: 0; z-index: 50;
  background: rgba(244,242,234,0.86);
  backdrop-filter: saturate(140%) blur(10px);
  -webkit-backdrop-filter: saturate(140%) blur(10px);
  border-bottom: 1px solid var(--line);
}
.scroll-progress {
  position: absolute; inset: 0 auto auto 0; width: 100%; height: 2px;
  background: var(--accent); transform: scaleX(0); transform-origin: left center;
  will-change: transform;
}
.nav .wrap { display: flex; align-items: center; justify-content: space-between; height: 56px; }
.nav .brand {
  font-weight: 700; letter-spacing: 0.16em; font-size: 13px; text-transform: uppercase;
  display: flex; align-items: center; gap: 9px; text-decoration: none;
}
.nav .brand .mark {
  width: 14px; height: 14px; border: 1.5px solid var(--accent); border-radius: 50%;
  display: grid; place-items: center; flex: 0 0 auto;
}
.nav .brand .mark::after { content: ''; width: 4px; height: 4px; border-radius: 50%; background: var(--accent); }
.nav .crumb { color: var(--ink-mute); font-size: 12px; letter-spacing: 0.14em; }
.nav .crumb b { color: var(--ink); font-weight: 500; }
.nav-links { display: flex; gap: 22px; }
.nav-links a {
  font-size: 12px; letter-spacing: 0.14em; text-transform: uppercase;
  color: var(--ink-soft); text-decoration: none; transition: color .15s;
}
.nav-links a:hover, .nav-links a.active { color: var(--accent); }
.nav-toggle {
  display: none; width: 38px; height: 38px; padding: 0; border: 1px solid var(--line);
  border-radius: var(--r-sm); background: var(--bg-card); color: var(--ink);
  align-items: center; justify-content: center; cursor: pointer;
}
.nav-toggle svg { width: 19px; height: 19px; fill: none; stroke: currentColor; stroke-width: 1.8; stroke-linecap: round; }
@media (max-width: 880px){
  .nav .crumb { display:none; }
  .nav-toggle { display: inline-flex; }
  .nav-links {
    position: absolute; top: 56px; left: 0; right: 0; display: grid; grid-template-columns: repeat(2, 1fr);
    gap: 0; padding: 10px max(22px, calc((100vw - var(--maxw)) / 2 + 28px)) 16px;
    background: var(--bg-card); border-bottom: 1px solid var(--line);
    box-shadow: 0 18px 38px rgba(23,21,15,.08); opacity: 0; visibility: hidden;
    transform: translateY(-8px); transition: opacity .18s ease, transform .18s ease, visibility .18s;
  }
  .nav-links a { padding: 11px 8px; border-bottom: 1px solid var(--line-soft); }
  .nav.open .nav-links { opacity: 1; visibility: visible; transform: translateY(0); }
}

/* ---------------------------------------------------------------- hero */
.hero { padding: 86px 0 60px; }
.hero .eyebrow { color: var(--ink-mute); }
.hero .eyebrow b { color: var(--accent); font-weight: 500; }
.hero h1 {
  font-size: clamp(54px, 11vw, 132px);
  font-weight: 700;
  letter-spacing: -0.045em;
  line-height: 0.92;
  margin: 6px 0 14px;
}
.hero h1 .accent { color: var(--accent); }
.hero .subtitle {
  font-size: clamp(18px, 2.3vw, 26px);
  font-weight: 400;
  color: var(--ink);
  letter-spacing: -0.01em;
  line-height: 1.3;
  margin: 0 0 22px;
  max-width: 24ch;
}
.publication-authors {
  margin: 0 0 28px;
  max-width: 76ch;
}
.author-list,
.affiliation-list {
  display: flex;
  flex-wrap: wrap;
  align-items: baseline;
}
.author-list { gap: 6px 24px; color: var(--ink); font-size: 15px; font-weight: 500; }
.affiliation-list {
  width: 100%;
  gap: 4px 22px;
  margin-top: 13px;
  font-size: 13px;
}
.affiliation-list .institution { color: var(--ink); font-weight: 500; }
.affiliation-list .contribution { color: var(--ink-mute); font-size: 12px; }
.publication-authors sup {
  position: relative;
  top: -.15em;
  margin-left: 2px;
  color: var(--accent);
  font-size: .68em;
  line-height: 0;
}
.hero .abstract {
  font-size: 15px; color: var(--ink-soft); max-width: 68ch; margin: 0 0 30px;
}

.btn-row { display: flex; flex-wrap: wrap; gap: 12px; margin-bottom: 52px; }
.btn {
  display: inline-flex; align-items: center; gap: 9px;
  font-family: var(--mono); font-size: 13px; font-weight: 500;
  letter-spacing: 0.06em; text-decoration: none;
  padding: 11px 18px; border: 1px solid var(--ink); color: var(--ink);
  background: transparent; cursor: pointer; transition: all .15s;
  border-radius: var(--r-sm);
}
.btn:hover { background: var(--ink); color: var(--bg); }
.btn.disabled { opacity: 0.55; cursor: not-allowed; border-style: dashed; pointer-events: none; }
.btn.primary { background: var(--accent); border-color: var(--accent); color: #fff; }
.btn.primary:hover { background: #c44a20; border-color: #c44a20; color:#fff; }
.btn .arr { transition: transform .15s; }
.btn:hover .arr { transform: translate(2px,-2px); }

/* hero stats */
.stats {
  display: grid; grid-template-columns: repeat(4, 1fr); gap: 14px;
}
.stat {
  min-width: 0;
  padding: 30px 26px;
  border: 1px solid var(--line);
  border-radius: var(--r-md);
  background: var(--bg-card);
  display: flex;
  flex-direction: column;
  gap: 16px;
  transition: transform .2s ease, border-color .2s ease, box-shadow .2s ease;
}
.stat:hover { transform: translateY(-3px); border-color: #c9c1af; box-shadow: 0 12px 28px rgba(23,21,15,.055); }
.stat .num {
  font-size: clamp(34px, 4.6vw, 54px); font-weight: 700; letter-spacing: -0.035em;
  line-height: 1; color: var(--ink); display: flex; align-items: baseline; gap: 3px;
}
.stat .num .unit { font-size: 0.4em; color: var(--accent); font-weight: 600; letter-spacing: 0; }
.stat .lbl { font-size: 12.5px; color: var(--ink-soft); margin: 0; line-height: 1.5; }
.stat .lbl .sub { display: block; margin-top: 3px; color: var(--ink-mute); font-size: 11.5px; }
@media (max-width: 760px){ .stats{ grid-template-columns: repeat(2,1fr); } .stat{ padding: 24px 20px; } }

/* ---------------------------------------------------- action-sens grid */
.lambda-legend {
  display:flex; gap: 18px; flex-wrap: wrap; align-items: center;
  font-size: 12px; color: var(--ink-soft); margin-bottom: 22px;
}
.lambda-legend .key { display:inline-flex; align-items:center; gap:7px; }
.lambda-legend .sw { width: 12px; height: 12px; display:inline-block; border-radius: 3px; }
.sw.gt { background: var(--blue); }
.sw.uncond { background: var(--gray); }
.sw.ours { background: var(--accent); }

.task-block { margin-bottom: 46px; }
.task-block .task-name {
  font-size: 13px; letter-spacing: 0.1em; text-transform: uppercase;
  color: var(--ink-soft); margin: 0 0 14px; font-weight: 500;
}
.task-block .task-name b { color: var(--ink); }

.as-grid {
  display: grid;
  grid-template-columns: 116px repeat(4, 1fr);
  gap: 6px;
  align-items: stretch;
}
.as-grid .corner { }
.as-grid .col-head {
  font-size: 11px; letter-spacing: 0.1em; text-transform: uppercase;
  color: var(--ink-mute); text-align: center; padding-bottom: 6px;
  display: flex; flex-direction: column; justify-content: flex-end; gap: 2px;
}
.as-grid .col-head .lam { color: var(--accent); font-weight: 700; font-size: 13px; letter-spacing: 0; }
.as-grid .row-head {
  display: flex; flex-direction: column; justify-content: center;
  font-size: 11px; letter-spacing: 0.1em; text-transform: uppercase;
  color: var(--ink-soft); padding: 15px 12px 15px 14px;
  border-left: 3px solid var(--gray-2);
  gap: 7px;
}
.as-grid .row-head.gt { border-left-color: var(--blue); color: var(--blue); }
.as-grid .row-head.uncond { border-left-color: var(--gray); color: var(--ink-mute); }
.as-grid .row-head.ours { border-left-color: var(--accent); color: var(--accent); }
.as-grid .row-head b { font-size: 12px; font-weight: 700; line-height: 1.5; }
.as-grid .row-head span { color: var(--ink-mute); font-size: 10px; line-height: 1.4; }

.as-cell {
  position: relative; background: var(--bg-card); overflow: hidden;
  aspect-ratio: 320 / 256;
  border: 1px solid var(--line); border-radius: var(--r-md);
}
.as-cell video { width: 100%; height: 100%; object-fit: cover; display: block; }
.as-cell.gt { box-shadow: inset 0 0 0 2px rgba(47,111,178,0.0); }
.as-cell.ours { }

@media (max-width: 720px){
  .task-block { overflow-x: auto; padding-bottom: 10px; }
  .as-grid { grid-template-columns: 92px repeat(4, 140px); gap:4px; min-width: 668px; }
  .as-grid .col-head { font-size:9px; }
  .as-grid .row-head { font-size:9px; }
}

/* ----------------------------------------------------------- figures */
.fig { margin: 30px 0 12px; }
.fig img { width: 100%; display: block; border: 1px solid var(--line); background: #fff; border-radius: var(--r-md); }
.fig.cap {
  font-size: 13px; color: var(--ink-soft); line-height: 1.6; margin: 14px 0 0;
}
.fig.cap b { color: var(--ink); font-weight: 700; }
.method-figure { margin-top: 36px; }
.method-figure .method-diagram {
  border: 0;
  border-radius: 0;
  background: transparent;
}
.method-caption {
  margin: 14px auto 0 !important;
  width: 100%;
  padding-top: 14px;
  border-top: 1px solid var(--line);
  max-width: none;
  color: var(--ink-mute) !important;
  font-size: 11.5px !important;
  line-height: 1.75 !important;
}
.method-caption b {
  display: block;
  margin-bottom: 5px;
  color: var(--accent) !important;
  font-size: 11px;
  font-weight: 700;
  letter-spacing: 0.12em;
  text-transform: uppercase;
}
.architecture-figure { margin-top: 46px; }

.two-col { display: grid; grid-template-columns: 1fr 1fr; gap: 30px; }
.fig-stack { display: flex; flex-direction: column; align-items: center; gap: 12px; }
.fig-stack .fig { width: 100%; max-width: 880px; }
.gloss { margin: 20px 0 0; font-size: 12.5px; color: var(--ink-soft); line-height: 1.65; }
.gloss .g { display: block; margin: 0; }
.gloss .term-row {
  display: grid;
  grid-template-columns: max-content minmax(0, 1fr);
  column-gap: 1ch;
  align-items: baseline;
  margin-bottom: 8px;
}
.gloss .g dt { color: var(--accent); font-weight: 600; white-space: nowrap; }
.gloss .g dd { margin: 0; }
@media (max-width: 820px){ .two-col{ grid-template-columns: 1fr; } }

/* method points */
.points { display: grid; grid-template-columns: repeat(3,1fr); gap: 22px; margin-top: 38px; }
.point { background: var(--bg-card); border: 1px solid var(--line); padding: 26px 24px 28px; border-radius: var(--r-md); transition: transform .2s ease, border-color .2s ease, box-shadow .2s ease; }
.point:hover { transform: translateY(-3px); border-color: #c9c1af; box-shadow: 0 12px 28px rgba(23,21,15,.055); }
.point .pn { font-size: 11px; color: var(--accent); font-weight: 700; letter-spacing: 0.15em; }
.point h3 { font-size: 18px; margin: 12px 0 13px; font-weight: 700; letter-spacing: -0.025em; line-height: 1.3; }
.point p { font-size: 14px; color: var(--ink-soft); margin: 0; line-height: 1.72; }
@media (max-width: 820px){ .points{ grid-template-columns:1fr; } }

/* ----------------------------------------------------------- charts */
.chart-card { background: var(--bg-card); border: 1px solid var(--line); padding: 30px 30px 22px; margin-top: 26px; border-radius: var(--r-lg); }
.chart-legend { display:flex; gap: 18px; flex-wrap: wrap; font-size: 12px; color: var(--ink-soft); margin-bottom: 26px; }
.chart-legend .key { display:inline-flex; align-items:center; gap:8px; }
.chart-legend .sw { width: 13px; height: 13px; display:inline-block; border-radius: 3px; }
.sw.clean { background: var(--blue-2); }
.sw.rand  { background: var(--blue); }
.sw.ours  { background: var(--accent); }
.sw.ours2 { background: var(--accent-2); }
.sw.base  { background: var(--gray); }
.sw.fw    { background: var(--blue); }

.chart-scroll { overflow-x: auto; -webkit-overflow-scrolling: touch; }
.chart { position: relative; min-width: 780px; }
.chart .axis {
  position: relative; height: 320px;
  border-bottom: 1.5px solid var(--ink);
  display: flex; align-items: flex-end; gap: 10px;
  padding: 0 4px;
}
.chart .gridline {
  position: absolute; left: 0; right: 0; height: 1px; background: var(--line-soft);
}
.chart .gridline span { display: none; }
.method-group {
  flex: 1; height: 100%; display: flex; flex-direction: column; justify-content: flex-end; align-items: center;
  min-width: 0;
}
.method-group .pair { display:flex; align-items:flex-end; gap: 10px; height: 100%; width: 100%; justify-content: center; }
.bar {
  width: clamp(18px, 2.7vw, 30px); position: relative; min-height: 2px;
  border-top-left-radius: var(--r-bar); border-top-right-radius: var(--r-bar);
}
.bar .v {
  position: absolute; bottom: 100%; left: 50%; transform: translateX(-50%);
  font-size: 10px; color: var(--ink); white-space: nowrap; margin-bottom: 5px; font-weight: 500;
}
.bar.clean { background: var(--blue-2); }
.bar.rand  { background: var(--blue); }
.bar.bw    { background: var(--gray); }
.bar.fw    { background: var(--blue); }
.bar.ours2 { background: var(--accent-2); }
.bar.ours  { background: var(--accent); }
/* category hue pairs: -l = Clean (light), base = Random (dark) */
.bar.b-base-l { background: #d6d1c3; }
.bar.b-base   { background: #b9b3a4; }
.bar.b-fw-l   { background: var(--blue-2); }
.bar.b-fw     { background: var(--blue); }
.bar.b-o2-l   { background: #f6cabb; }
.bar.b-o2     { background: var(--accent-2); }
.bar.b-ours-l { background: #ee8c5f; }
.bar.b-ours   { background: var(--accent); }
/* efficiency / mini single-hue pairs */
.bar.e-fw   { background: var(--blue); }
.bar.e-ours { background: var(--accent); }
.bar.m-fw   { background: var(--blue); }
.bar.m-ours { background: var(--accent); }
/* mini + efficiency bars (no .bar class) */
.mini .mb.m-fw, .eff .ebar.e-fw   { background: var(--blue); }
.mini .mb.m-ours, .eff .ebar.e-ours { background: var(--accent); }
.method-label {
  flex: 1; min-width: 0;
  margin-top: 12px; font-size: 10.5px; color: var(--ink-soft); text-align: center;
  letter-spacing: 0.02em; line-height: 1.25; min-height: 28px; display:flex; align-items:flex-start; justify-content:center;
  hyphens: auto;
}
.method-label.hl { color: var(--accent); font-weight: 700; }

/* matched policy outcome contrast for the RoboTwin result */
.benchmark-case { width: 100%; max-width: 780px; margin: 28px auto 32px; }
.case-heading {
  display: flex;
  align-items: flex-end;
  justify-content: space-between;
  gap: 20px;
  margin-bottom: 14px;
}
.case-heading .case-kicker {
  margin: 0 0 4px;
  color: var(--accent);
  font-size: 10px;
  font-weight: 700;
  letter-spacing: 0.14em;
  text-transform: uppercase;
}
.case-heading h3 { margin: 0; font-size: 19px; line-height: 1.25; letter-spacing: -0.02em; }
.case-heading > p { margin: 0; color: var(--ink-mute); font-size: 11px; }
.outcome-grid { display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 16px; }
.outcome-card {
  min-width: 0;
  margin: 0;
  overflow: hidden;
  border: 1px solid var(--line);
  border-radius: var(--r-md);
  background: var(--bg-card);
}
.outcome-media { position: relative; overflow: hidden; background: #fff; }
.outcome-media video { display: block; width: 100%; aspect-ratio: 16 / 9; object-fit: cover; }
.outcome-status {
  position: absolute;
  top: 10px;
  right: 10px;
  padding: 5px 8px;
  border: 1px solid currentColor;
  border-radius: 3px;
  background: rgba(250,248,242,.92);
  font-size: 10px;
  font-weight: 700;
  letter-spacing: 0.1em;
  text-transform: uppercase;
}
.outcome-card.fail .outcome-status { color: var(--ink-mute); }
.outcome-card.success .outcome-status { color: var(--good); }
.outcome-card figcaption {
  display: grid;
  grid-template-columns: auto 1fr;
  gap: 14px;
  align-items: baseline;
  padding: 13px 15px 14px;
  border-top: 1px solid var(--line-soft);
  font-size: 11px;
  line-height: 1.5;
}
.outcome-card figcaption b { color: var(--ink); font-size: 12px; white-space: nowrap; }
.outcome-card figcaption span { color: var(--ink-mute); }
@media (max-width: 680px) {
  .case-heading { align-items: flex-start; flex-direction: column; gap: 5px; }
  .outcome-grid { grid-template-columns: 1fr; }
  .outcome-card figcaption { grid-template-columns: 1fr; gap: 3px; }
}

/* mini chart row (video quality) */
.mini-row { display:grid; grid-template-columns: repeat(3,1fr); gap: 22px; margin-top: 26px; }
.mini { background: var(--bg-card); border: 1px solid var(--line); padding: 24px; border-radius: var(--r-md); transition: transform .2s ease, box-shadow .2s ease; }
.mini:hover { transform: translateY(-3px); box-shadow: 0 12px 28px rgba(23,21,15,.055); }
.mini .mtitle { font-size: 12px; letter-spacing: 0.08em; text-transform: uppercase; color: var(--ink-soft); margin: 0 0 22px; }
.mini .maxis { height: 150px; border-bottom: 1.5px solid var(--ink); display:flex; align-items:flex-end; justify-content:center; gap: 26px; padding-bottom: 0; }
.mini .mb { width: 46px; position: relative; border-top-left-radius: var(--r-bar); border-top-right-radius: var(--r-bar); }
.mini .mb .v { position:absolute; bottom:100%; left:50%; transform:translateX(-50%); font-size:12px; font-weight:600; margin-bottom:6px; white-space:nowrap; }
.mini .mlbls { display:flex; justify-content:center; gap:26px; margin-top:10px; }
.mini .mlbls span { width:46px; text-align:center; font-size:10px; color: var(--ink-mute); }
@media (max-width: 760px){ .mini-row{ grid-template-columns:1fr; } }

/* tables */
.tbl-wrap { overflow-x: auto; margin-top: 26px; border: 1px solid var(--line); background: var(--bg-card); border-radius: var(--r-lg); }
table.data { border-collapse: collapse; width: 100%; font-size: 13px; min-width: 560px; }
table.data th, table.data td { padding: 12px 16px; text-align: right; border-bottom: 1px solid var(--line-soft); }
table.data th:first-child, table.data td:first-child { text-align: left; }
table.data thead th { font-size: 11px; letter-spacing: 0.08em; text-transform: uppercase; color: var(--ink-mute); font-weight: 500; border-bottom: 1.5px solid var(--ink); }
table.data tbody tr:last-child td { border-bottom: none; }
table.data tr.ours td { background: rgba(223,90,43,0.06); font-weight: 600; }
table.data tr.ours td:first-child { color: var(--accent); }
table.data td.best { color: var(--accent); font-weight: 700; }
table.data .sub { color: var(--ink-mute); font-size: 11px; }
table.data .note { color: var(--ink-mute); }

/* quality video row */
.qvid { margin-top: 30px; }
.qvid .qstrip { display:flex; width:100%; border:1px solid var(--line); background:#000; border-radius: var(--r-md); overflow: hidden; }
.qvid video { width: 100%; display:block; border: 1px solid var(--line); border-radius: var(--r-md); background: #fff; }
.qvid .qlbls { display:flex; margin-top: 8px; }
.qvid .qlbls span { flex:1; text-align:center; font-size:11px; color: var(--ink-soft); letter-spacing:0.06em; text-transform:uppercase; }
.qvid .qlbls span.b { color: var(--blue); }
.qvid .qlbls span.o { color: var(--accent); }

/* efficiency stat cards */
.eff-row { display:grid; grid-template-columns: repeat(3,1fr); gap: 22px; margin-top: 26px; }
.eff { background: var(--bg-card); border: 1px solid var(--line); padding: 26px; border-radius: var(--r-md); transition: transform .2s ease, box-shadow .2s ease; }
.eff:hover { transform: translateY(-3px); box-shadow: 0 12px 28px rgba(23,21,15,.055); }
.eff .et { font-size: 12px; letter-spacing: 0.08em; text-transform: uppercase; color: var(--ink-soft); }
.eff .ebars { display:flex; align-items:flex-end; justify-content:center; gap: 20px; height: 130px; margin: 22px 0 10px; border-bottom: 1.5px solid var(--ink); }
.eff .ebar { width: 54px; position: relative; border-top-left-radius: var(--r-bar); border-top-right-radius: var(--r-bar); }
.eff .ebar .v { position:absolute; bottom:100%; left:50%; transform:translateX(-50%); font-size: 12px; font-weight:600; white-space:nowrap; margin-bottom:6px; }
.eff .elbls { display:flex; justify-content:center; gap:20px; }
.eff .elbls span { width:54px; text-align:center; font-size:10px; color: var(--ink-mute); }
.eff .edelta { font-size: 13px; color: var(--good); margin-top: 10px; font-weight: 600; text-align:center; }
@media (max-width: 760px){ .eff-row{ grid-template-columns:1fr; } }

/* callout */
.callout {
  border-left: 3px solid var(--accent); background: var(--bg-card);
  padding: 20px 24px; margin: 26px 0; font-size: 14px; color: var(--ink-soft);
  border-radius: var(--r-md);
}
.callout b { color: var(--ink); }

/* real-robot experiment rail */
.real-rail {
  display: grid;
  grid-auto-flow: column;
  grid-auto-columns: 100%;
  gap: 16px;
  width: 100%;
  max-width: 760px;
  margin: 0 auto;
  overflow-x: auto;
  overscroll-behavior-inline: contain;
  scroll-snap-type: inline mandatory;
  scrollbar-width: none;
  padding: 4px 0 8px;
  -webkit-overflow-scrolling: touch;
}
.real-rail:focus-visible { outline: 2px solid var(--accent); outline-offset: 6px; }
.real-rail::-webkit-scrollbar { display: none; }
.real-pager {
  display: flex;
  align-items: center;
  justify-content: flex-end;
  gap: 8px;
  width: 100%;
  max-width: 760px;
  margin: 10px auto 0;
}
.real-page-btn {
  display: grid;
  place-items: center;
  width: 38px;
  height: 38px;
  padding: 0;
  border: 1px solid var(--line);
  border-radius: var(--r-sm);
  background: var(--bg-card);
  color: var(--ink);
  font: 500 18px/1 var(--mono);
  cursor: pointer;
  transition: color .15s, border-color .15s, background .15s;
}
.real-page-btn:hover:not(:disabled) {
  border-color: var(--accent);
  background: var(--accent);
  color: #fff;
}
.real-page-btn:focus-visible { outline: 2px solid var(--accent); outline-offset: 2px; }
.real-page-btn:disabled { cursor: default; opacity: .34; }
.real-page-count {
  display: inline-flex;
  align-items: baseline;
  justify-content: center;
  gap: 6px;
  min-width: 68px;
  color: var(--ink-mute);
  font: 500 11px/1 var(--mono);
  letter-spacing: .1em;
}
.real-page-current { color: var(--accent); font-size: 13px; }
.real-card {
  min-width: 0;
  margin: 0;
  overflow: hidden;
  scroll-snap-align: start;
  border: 1px solid var(--line);
  border-radius: var(--r-md);
  background: var(--bg-card);
}
.real-media {
  position: relative;
  aspect-ratio: 16 / 9;
  overflow: hidden;
  background: #fff;
}
.real-media video { display: block; width: 100%; height: 100%; object-fit: cover; }
.speed-badge {
  position: absolute;
  top: 10px;
  right: 10px;
  min-width: 36px;
  padding: 5px 7px;
  border: 1px solid rgba(255,255,255,.72);
  border-radius: 3px;
  background: rgba(23,21,15,.82);
  color: #fff;
  font-size: 11px;
  font-weight: 700;
  line-height: 1;
  text-align: center;
}
.real-card figcaption {
  display: flex;
  align-items: baseline;
  gap: 12px;
  padding: 14px 15px 16px;
  border-top: 1px solid var(--line-soft);
}
.real-card figcaption span {
  color: var(--accent);
  font-size: 10px;
  font-weight: 700;
  letter-spacing: .12em;
  text-transform: uppercase;
  white-space: nowrap;
}
.real-card figcaption b { color: var(--ink); font-size: 13px; }
@media (max-width: 680px) {
  .real-rail { gap: 12px; }
}

/* citation */
pre.bib {
  background: var(--bg-sunk); border: 1px solid var(--line); padding: 22px 24px;
  font-family: var(--mono); font-size: 12.5px; line-height: 1.7; overflow-x: auto;
  position: relative; margin: 0; border-radius: var(--r-lg);
}
.copy-btn {
  position: absolute; top: 12px; right: 12px; font-family: var(--mono); font-size: 11px;
  letter-spacing: 0.08em; text-transform: uppercase; background: var(--bg); border: 1px solid var(--line);
  padding: 7px 12px; cursor: pointer; color: var(--ink-soft); border-radius: var(--r-sm);
}
.copy-btn:hover { color: var(--accent); border-color: var(--accent); }

/* footer */
footer { border-top: 1px solid var(--line); padding: 40px 0 60px; color: var(--ink-mute); font-size: 12px; }
footer a { color: var(--ink-soft); }

/* tiny utility */
.row-spread { display:flex; align-items:baseline; justify-content:space-between; flex-wrap:wrap; gap:12px; }
.muted { color: var(--ink-mute); }

@media (max-width: 560px) {
  .wrap { padding-left: 20px; padding-right: 20px; }
  section { padding: 60px 0; }
  .hero { padding-top: 64px; }
  .hero h1 { font-size: clamp(52px, 20vw, 78px); }
  .hero .abstract { font-size: 14px; }
  .stats { grid-template-columns: 1fr; }
  .stat { border: 1px solid var(--line); }
  footer .row-spread { align-items: flex-start; }
}

@media (prefers-reduced-motion: reduce) {
  html { scroll-behavior: auto; }
  *, *::before, *::after { transition-duration: .01ms !important; animation-duration: .01ms !important; }
}