body { font-family: "Noto Sans", sans-serif; }
.link-block a { margin-top: 5px; margin-bottom: 5px; }
.teaser .hero-body { padding-top: 0; padding-bottom: 3rem; }
.teaser, .publication-title, .publication-authors { font-family: "Google Sans", sans-serif; }
.publication-authors a { color: hsl(204, 86%, 53%) !important; }
.publication-authors a:hover { text-decoration: underline; }
.author-block { display: inline-block; }
@font-face {
  font-family: "Google Sans";
  font-style: normal;
  font-weight: 400;
  src: url("../fonts/google-sans.ttf") format("truetype");
  font-display: swap;
}
@font-face {
  font-family: "Noto Sans";
  font-style: normal;
  font-weight: 400;
  src: url("../fonts/noto-sans.ttf") format("truetype");
  font-display: swap;
}
:root {
  --background: #fff;
  --foreground: #4a4a4a;
  --primary: #363636;
  --primary-foreground: #fff;
  --border: #dbdbdb;
  --accent: #87cefa;
  --muted: #f5f5f5;
}
.section {
  margin: 0;
  padding: 1.2rem;
}
.expand-button {
  background-color: #87cefa;
  color: #fff;
  border: none;
  font-size: 1.2rem;
  padding: 12px 24px;
}
.expand-button:hover,
.expand-button:focus {
  background-color: #79c5f4;
  color: #fff;
}
.publication-links {
  display: flex;
  justify-content: center;
  flex-wrap: wrap;
  gap: 4px;
}
.publication-video-container video {
  width: 100%;
  display: block;
}
.video-caption {
  text-align: left;
}
.paper-image {
  width: 100%;
  height: auto;
}
#Hardware .paper-image {
  width: 100%;
}
.publication-authors .author-name {
  color: hsl(204, 86%, 53%);
}
.table-scroll {
  width: 100%;
  overflow-x: auto;
}
.table-scroll table {
  width: 100%;
  font-size: 14px;
}
.table-scroll th,
.table-scroll td {
  padding: 0.65em 0.75em;
  white-space: nowrap;
  text-align: center;
  border-bottom: 1px solid #dbdbdb;
}
.table-scroll th:first-child,
.table-scroll td:first-child {
  text-align: left;
}
.table-scroll .ours {
  font-weight: bold;
  background: #eff8fe;
}
.supplementary-note {
  font-size: 14px;
  color: #6b6b6b;
}
figure {
  margin: 0;
}
button:focus-visible,
a:focus-visible {
  outline: 3px solid #209cee;
  outline-offset: 3px;
}
#teaser {
  display: block;
  width: 100%;
}
@media (max-width: 768px) {
  .expand-button {
    height: auto;
    white-space: normal;
    max-width: 100%;
  }
  .publication-title {
    overflow-wrap: break-word;
  }
  .section {
    padding: 1.2rem;
  }
  .publication-authors {
    padding: 0 0.25rem;
  }
}
@media (prefers-reduced-motion: reduce) {
  html {
    scroll-behavior: auto;
  }
}

.bibtex-heading {
  display: flex;
  align-items: center;
  justify-content: space-between;
  gap: 1rem;
  margin-bottom: 1rem;
}
.bibtex-heading .title {
  margin: 0;
}
.bibtex-actions {
  display: flex;
  align-items: center;
  gap: 0.5rem;
  font-size: 14px;
}

.publication-links .link-block button {
  margin-top: 5px;
  margin-bottom: 5px;
  justify-content: center;
  text-align: center;
}

.hardware-layout {
  display: grid;
  grid-template-columns: 1.4fr 1fr;
  gap: 1.5rem;
  align-items: start;
}
.hardware-description {
  min-width: 0;
}
.hardware-description .content {
  line-height: 1.8;
}
.hardware-description .column {
  padding: 0;
}
.hardware-description .paper-image {
  display: block;
}
.hardware-highlight {
  color: #e98145;
}
.hardware-assembly {
  min-width: 0;
}
.hardware-assembly video {
  display: block;
  width: 100%;
  height: auto;
}
.hardware-caption {
  margin-top: 0.5rem;
  text-align: center;
}
@media (max-width: 768px) {
  .hardware-layout {
    grid-template-columns: 1fr;
  }
  .hardware-assembly {
    width: 100%;
    max-width: 480px;
    margin: auto;
  }
}

.visualization-grid {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 1.5rem;
}
.visualization-task video {
  display: block;
  width: 100%;
  height: auto;
}
.visualization-task p {
  margin-top: 0.65rem;
}
@media (max-width: 768px) {
  .visualization-grid {
    grid-template-columns: 1fr;
  }
}

.view-labels {
  display: grid;
  grid-template-columns: repeat(6, minmax(0, 1fr));
  align-items: center;
  margin-bottom: 4px;
  font-size: 14px;
  line-height: 1.3;
  text-align: center;
}
.view-labels span {
  min-width: 0;
  overflow-wrap: anywhere;
}

#Learning {
  padding-top: 3rem;
}

#quantitative-main > .table-scroll:first-of-type tbody tr:nth-child(-n + 4) td {
  border-bottom: none;
}

#quantitative-main > .table-scroll:first-of-type tbody tr:nth-child(6) td {
  border-bottom: none;
}

.qualitative-task {
  margin-bottom: 2rem;
  text-align: left;
}
.qualitative-task .title {
  margin-bottom: 0.5rem;
}
.qualitative-rate {
  margin-bottom: 1rem;
}
.qualitative-grid {
  display: grid;
  grid-template-columns: repeat(3, minmax(0, 1fr));
  gap: 1rem;
}
.qualitative-grid video {
  display: block;
  width: 100%;
  aspect-ratio: 4/3;
  object-fit: contain;
  background: #f5f5f5;
}
.qualitative-caption {
  text-align: center;
  margin-top: 0.5rem;
}
@media (max-width: 768px) {
  .qualitative-grid {
    grid-template-columns: 1fr;
  }
}

#quantitative-main > .table-scroll:first-of-type {
  max-width: 860px;
  margin-inline: auto;
}
#quantitative-main > .table-scroll:first-of-type th,
#quantitative-main > .table-scroll:first-of-type td {
  padding: 0.4em 0.55em;
  line-height: 1.35;
}

.camera-ablation-table {
  max-width: 600px;
  margin: 1rem auto;
}
.camera-ablation-table th,
.camera-ablation-table td {
  padding: 0.4em 0.55em;
  line-height: 1.35;
}

#quantitative-main > .table-scroll:first-of-type thead th {
  border-top: 1px solid #777;
}

.camera-ablation-table thead th {
  border-top: 1px solid #777;
}

.generalization-table {
  max-width: 680px;
  margin: 1rem auto;
}
.generalization-table th,
.generalization-table td {
  padding: 0.3em 0.45em;
  line-height: 1.3;
}

#Quantitative .paper-image[src="static/images/generalization-scenarios.webp"] {
  width: 80%;
  height: auto;
}
@media (max-width: 768px) {
  #Quantitative .paper-image[src="static/images/generalization-scenarios.webp"] {
    width: 100%;
  }
}

.qualitative-task-grid {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 1.5rem;
}
.qualitative-task-grid .qualitative-task {
  min-width: 0;
  margin-bottom: 0.5rem;
}
.qualitative-task-grid .qualitative-task .title {
  font-size: 1.15rem;
  line-height: 1.4;
}
.qualitative-task-grid .qualitative-grid {
  gap: 0.5rem;
}
@media (max-width: 768px) {
  .qualitative-task-grid {
    grid-template-columns: 1fr;
  }
}

.qualitative-grid video {
  aspect-ratio: auto;
  height: auto;
  background: transparent;
}

.failure-grid {
  display: grid;
  grid-template-columns: repeat(4, minmax(0, 1fr));
  gap: 1rem;
}
.failure-grid video {
  display: block;
  width: 100%;
  height: auto;
}
.failure-grid p {
  margin-top: 0.5rem;
}
@media (max-width: 768px) {
  .failure-grid {
    grid-template-columns: 1fr;
  }
}

#FailureCases .supplementary-note {
  text-align: right;
  margin-top: 1rem;
}

#Qualitative .supplementary-note {
  text-align: right;
  margin-top: 1rem;
}

/* Shared typography and section rhythm. */
body {
  font-size: 1rem;
  line-height: 1.65;
}
.publication-title.title {
  font-size: 2.5rem;
  line-height: 1.18;
  font-weight: 700;
  margin-bottom: 1.25rem;
  text-wrap: balance;
}
.publication-conference {
  font-size: 1.25rem;
  line-height: 1.4;
  font-weight: 600;
  margin-bottom: 1.25rem;
}
.publication-authors {
  line-height: 1.7;
}
.publication-authors.publication-affiliations {
  font-size: 1rem;
}
.section {
  padding-block: 2rem;
}
.section-title.title,
#Acknowledgement .section-title.title {
  font-size: 1.75rem;
  line-height: 1.25;
  font-weight: 600;
  text-align: center;
  margin: 0 0 1.5rem;
  text-wrap: balance;
}
.section-subtitle {
  font-size: 1.0625rem;
  line-height: 1.55;
  font-weight: 400;
  color: #555;
  margin: -0.65rem 0 1.5rem;
  text-wrap: balance;
}
.content p,
.video-caption {
  line-height: 1.65;
}
.teaser-caption.subtitle {
  font-size: 1.125rem;
  line-height: 1.5;
  margin-top: 0.8rem;
  text-wrap: balance;
}
#userStudySection h3.title {
  font-size: 1.25rem;
  line-height: 1.4;
  margin-top: 1.75rem;
  margin-bottom: 0.8rem;
}
.generalization-table h4.title {
  font-size: 1.125rem;
  line-height: 1.4;
  margin-bottom: 1rem;
}
.qualitative-task-grid {
  row-gap: 2rem;
}
.qualitative-task-grid .qualitative-task .title {
  font-size: 1.125rem;
  line-height: 1.45;
  font-weight: 600;
  margin-bottom: 0.35rem;
}
.qualitative-rate {
  font-size: 0.875rem;
  line-height: 1.5;
  color: #666;
  margin-bottom: 0.85rem;
}
.qualitative-caption,
.hardware-caption,
.visualization-task p,
.failure-grid p {
  font-size: 0.875rem;
  line-height: 1.5;
}
.supplementary-note {
  font-size: 0.875rem;
  line-height: 1.5;
}
.expand-button {
  font-size: 1rem;
  line-height: 1.5;
  height: auto;
}
.bibtex-heading {
  position: relative;
  justify-content: center;
  min-height: 2.5rem;
  margin-bottom: 1.25rem;
  padding-inline: 3rem;
}
.bibtex-heading .section-title.title {
  margin: 0;
}
.bibtex-actions {
  position: absolute;
  right: 0;
}
#BibTeX pre {
  font-size: 0.875rem;
  line-height: 1.6;
  text-align: left;
}
#Acknowledgement .content p {
  font-size: 1rem;
  line-height: 1.7;
}
@media (max-width: 768px) {
  .publication-title.title {
    font-size: 2rem;
  }
  .publication-conference {
    font-size: 1.125rem;
  }
  .section-title.title,
  #Acknowledgement .section-title.title {
    font-size: 1.5rem;
  }
  .section {
    padding-block: 1.75rem;
  }
  .section-subtitle {
    font-size: 1rem;
  }
  .bibtex-actions [role="status"] {
    position: absolute;
    right: 0;
    top: 100%;
    white-space: nowrap;
  }
}

#Acknowledgement .section-title.title {
  text-align: left;
}

#BibTeX .bibtex-heading {
  justify-content: flex-start;
  padding-left: 0;
}
#BibTeX .section-title.title {
  text-align: left;
}

img#teaser {
  height: auto;
}

#Experiment {
  padding-bottom: 0.75rem;
}
#Quantitative {
  padding-top: 0.75rem;
}
#Quantitative > .container > .columns > .column > .section-title {
  margin-bottom: 1rem;
}

.expand-button[aria-controls="fingertip-visualization"] {
  background-color: #e98145;
  color: #fff;
}
.expand-button[aria-controls="fingertip-visualization"]:hover,
.expand-button[aria-controls="fingertip-visualization"]:focus {
  background-color: #d76b2f;
  color: #fff;
}

.expand-button[aria-controls="userStudySection"] {
  background-color: #e98145;
  color: #fff;
}
.expand-button[aria-controls="userStudySection"]:hover,
.expand-button[aria-controls="userStudySection"]:focus {
  background-color: #d76b2f;
  color: #fff;
}

.ablation-grid {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 1.5rem;
  align-items: start;
  text-align: left;
}
.ablation-grid > div {
  min-width: 0;
}
.ablation-grid .camera-ablation-table {
  max-width: none;
}
.encoder-ablation-table {
  margin: 1rem 0;
}
.encoder-ablation-table th,
.encoder-ablation-table td {
  padding: 0.4em 0.4em;
  line-height: 1.35;
}
.encoder-ablation-table thead th {
  border-top: 1px solid #777;
}
.ablation-grid th:first-child,
.ablation-grid td:first-child {
  white-space: normal;
}
@media (max-width: 768px) {
  .ablation-grid {
    grid-template-columns: 1fr;
  }
}

@media (min-width: 769px) {
  .ablation-grid {
    align-items: stretch;
  }
  .ablation-grid > div {
    display: grid;
    grid-template-rows: auto 1fr;
  }
  .ablation-grid > div > .content {
    min-height: 8rem;
    margin-bottom: 0;
  }
  .ablation-grid .camera-ablation-table,
  .ablation-grid .encoder-ablation-table {
    margin: 1rem 0;
    min-height: 10rem;
  }
  .ablation-grid .table-scroll,
  .ablation-grid table {
    height: 100%;
  }
}

.generalization-table thead th {
  border-top: 1px solid #777;
}

.encoder-ablation-table th,
.encoder-ablation-table td {
  padding: 0.15em 0.4em;
  line-height: 1.2;
}

/* Consistent outer horizontal rules for every data table. */
.table-scroll table {
  border-top: 1px solid #777;
  border-bottom: 1px solid #777;
  border-collapse: collapse;
}
.table-scroll thead tr:first-child th {
  border-top: 1px solid #777;
}
.table-scroll tbody tr:last-child td {
  border-bottom: 1px solid #777;
}

.failure-analysis {
  margin-top: 1.25rem;
  text-align: left;
}

.results-figure-caption {
  font-size: 14px;
  line-height: 1.5;
  color: #6b6b6b;
  text-align: left;
  margin-top: 0.5rem;
}

.encoder-ablation-table .ours {
  font-weight: normal;
}

#FailureCases .failure-speed-note {
  margin: 0 0 0.5rem;
  text-align: right;
}

#FailureCases .section-title.title {
  margin-bottom: 0.5rem;
}

[hidden] {
  display: none !important;
}