:root{--ink:#20242c;--muted:#757d89;--body:#56606e;--brand-purple:#7040a0;--brand-soft:#f3edf9;--brand-tint:#faf7fd;--brand-border:#e3d6ef;--brand-focus:#9567c0;--brand-selection:#e8d9f6;--paper:#fff;--soft:#f7f5fa;--line:#e6e2ec;--ease:cubic-bezier(.2,.8,.2,1)}
*{box-sizing:border-box}
html{scroll-behavior:smooth;scroll-padding-top:100px}
body{margin:0;background:var(--paper);color:var(--ink);font:16px/1.6 -apple-system,BlinkMacSystemFont,"Segoe UI","Helvetica Neue",Arial,"PingFang SC",sans-serif;-webkit-font-smoothing:antialiased}
[hidden]{display:none!important}
a{color:inherit;text-decoration:none}button,select{font:inherit}button{cursor:pointer}button,a,select{-webkit-tap-highlight-color:transparent}button:focus-visible,a:focus-visible,select:focus-visible,[tabindex="0"]:focus-visible,summary:focus-visible{outline:3px solid var(--brand-focus);outline-offset:4px}button{border:0}::selection{background:var(--brand-selection)}
.shell{width:min(1160px,calc(100% - 72px));margin-inline:auto}
.skip-link{position:fixed;top:-100px;left:20px;z-index:100;background:white;padding:12px}.skip-link:focus{top:10px}
.site-header{position:sticky;top:0;background:#ffffffed;backdrop-filter:blur(14px);-webkit-backdrop-filter:blur(14px);z-index:20;border-bottom:1px solid var(--line)}
.wordmark{display:inline-flex;align-items:center;flex-shrink:0}.wordmark-logo{display:block;width:148px;height:auto;flex:none}
@media(max-width:480px){.wordmark-logo{width:clamp(90px,26vw,116px)}}
@media(max-width:360px){.nav{flex-wrap:wrap;padding-block:10px}.nav-links{justify-content:space-between;width:100%}}
.nav{min-height:72px;display:flex;align-items:center;justify-content:space-between;gap:20px}.wordmark{font-size:21px;font-weight:700;letter-spacing:-.6px;white-space:nowrap}.nav-context{font-weight:400;letter-spacing:0;color:var(--muted);font-size:13px;margin-left:15px;padding-left:16px;border-left:1px solid var(--line)}.nav-links{display:flex;gap:27px;font-size:14px;color:var(--body)}.nav-links a:hover{color:var(--brand-purple)}.reading-progress{height:2px;background:var(--brand-purple);transform:scaleX(0);transform-origin:left}
.hero{padding-top:65px;text-align:center}.eyebrow,.section-kicker{font-size:13px;font-weight:600;letter-spacing:normal;color:var(--muted)}.paper-name{display:block;font-size:51px;letter-spacing:-1.7px;color:var(--brand-purple);margin-bottom:13px;font-weight:700}.hero h1{font-size:clamp(29px,3.3vw,43px);line-height:1.22;letter-spacing:-1.15px;font-weight:620;margin:24px auto 23px;max-width:1080px}.hero-summary{color:var(--body);font-size:19px;line-height:1.6;margin:0 auto;max-width:930px}.resource-block{margin:28px 0 38px}.paper-resources{display:flex;justify-content:center;gap:12px;flex-wrap:wrap}.resource-button{display:inline-flex;align-items:center;justify-content:center;gap:8px;min-height:43px;padding:9px 17px;border:1px solid var(--line);border-radius:10px;font-size:14px;line-height:1.3;font-weight:550;letter-spacing:-.1px;transition:transform .22s var(--ease),box-shadow .22s,background .22s;white-space:nowrap}.resource-button img{flex:none;display:block;object-fit:contain;width:21px;height:21px}.resource-button:disabled{cursor:default;opacity:1;-webkit-text-fill-color:currentColor}.resource-arxiv{color:#9d2533;background:#fff7f7;border-color:#edd8dc}.resource-github{color:#fff;background:#24292f;border-color:#24292f}.resource-github img{filter:brightness(0) invert(1)}.resource-huggingface{color:#654718;background:#fffaf0;border-color:#eddfbf}.paper-resources a:hover{transform:translateY(-2px);box-shadow:0 5px 14px #3d245712}.paper-resources a:active{transform:translateY(0)}.resources-status{font-size:12px;line-height:1.6;color:var(--muted);margin:10px 0 0}
.abstract-block{border-top:1px solid var(--line);padding-top:30px;display:grid;grid-template-columns:150px 1fr;gap:35px;text-align:left}.abstract-block h2{font-size:19px;margin:0;font-weight:600}.abstract-block p{color:var(--body);font-size:17px;line-height:1.8;margin:0}.research-facts{display:grid;grid-template-columns:repeat(3,1fr);gap:30px;margin-top:32px;border-top:1px solid var(--line);padding-top:25px;text-align:center;color:var(--body);font-size:17px;line-height:1.55}.research-facts strong{display:block;color:var(--ink);font-size:27px;letter-spacing:-.65px;font-weight:600;margin-bottom:4px;white-space:nowrap}
.section{padding-block:90px}.section-heading{display:flex;align-items:flex-end;justify-content:space-between;gap:35px;margin-bottom:38px}.section-kicker{margin-bottom:18px}.section-title{font-size:clamp(32px,3.8vw,47px);font-weight:600;line-height:1.15;letter-spacing:-1.7px;margin:0}.muted{color:var(--muted)}.section-aside{font-size:16px;line-height:1.6;color:var(--muted);margin:0 0 3px}
.results-tabs{display:flex;gap:4px;width:max-content;max-width:100%;padding:5px;border-radius:30px;background:#f3f0f6;margin-bottom:26px}.results-tabs button{background:transparent;border-radius:25px;padding:11px 25px;font-size:15px;color:var(--body);transition:background .25s,color .25s}.results-tabs button[aria-selected=true]{background:white;color:var(--ink);box-shadow:0 2px 8px #452d6010}.results-panel{display:grid;grid-template-columns:290px minmax(0,1fr);gap:45px;padding:40px;border:1px solid var(--line);border-radius:22px;background:linear-gradient(115deg,#fcfafd,#fff 65%);align-items:start}.chart-eyebrow{font-size:13px;letter-spacing:normal;color:var(--muted);font-weight:500}.result-big{font-size:80px;line-height:1.1;font-weight:620;letter-spacing:-4px;margin:24px 0 3px;font-variant-numeric:tabular-nums}.result-big>span+span{font-size:36px;letter-spacing:-1.4px}.result-story h3{font-size:22px;line-height:1.4;letter-spacing:-.5px;font-weight:600;margin:22px 0 15px}.result-story p{font-size:16px;color:var(--body);line-height:1.7;margin:0}.result-footnote{font-size:13px;color:var(--muted);line-height:1.7;margin-top:22px}.section-link{display:inline-flex;gap:17px;align-items:center;font-size:14px;color:var(--brand-purple);margin-top:28px}.section-link:hover{text-decoration:underline;text-underline-offset:4px}.chart-wrap{min-width:0}.chart-heading{display:flex;align-items:center;justify-content:space-between;gap:14px;margin-bottom:17px}.chart-heading h3{font-size:17px;margin:0;font-weight:600}.chart-heading>span{font-size:12px;color:var(--muted);white-space:nowrap}
.radar-legend{display:flex;flex-wrap:wrap;gap:7px 13px;justify-content:center}.legend-button{display:inline-flex;gap:7px;align-items:center;background:none;padding:6px 0;color:var(--body);font-size:14px;transition:opacity .25s;white-space:nowrap}.legend-button[aria-pressed=false]{opacity:.32;text-decoration:line-through}.legend-button svg{width:24px;height:24px;overflow:visible;flex:none}.radar-canvas{min-height:375px;margin-top:3px}#radar-chart{display:block;width:100%;overflow:visible}.radar-grid{fill:none;stroke:#e5dfed;stroke-width:1}.radar-spoke{stroke:#eae5f0;stroke-width:1}.radar-tick{font-size:12px;fill:#8894a3;paint-order:stroke;stroke:#fff;stroke-width:5px;stroke-linejoin:round}.radar-label{fill:#424c5b;font-weight:500}.radar-series{transition:opacity .25s;stroke-linejoin:round;stroke-width:2.25}.chart-hint{font-size:12px;color:var(--muted);line-height:1.6;margin:17px 0 0}
.bar-row{display:grid;grid-template-columns:103px minmax(0,1fr) 53px;gap:13px;align-items:center;margin:21px 0;font-size:14px}.bar-label{color:var(--body)}.bar-track{height:19px;background:#f1edf5;border-radius:3px;overflow:hidden}.bar-fill{height:100%;background:#b8c2d0;width:0;border-radius:3px;transition:width .8s var(--ease)}.bar-row.highlight .bar-fill{background:var(--brand-purple)}.bar-row.highlight .bar-label,.bar-row.highlight .bar-value{color:var(--brand-purple);font-weight:600}.bar-value{text-align:right;font-variant-numeric:tabular-nums}.chart-scale{margin:22px 66px 0 116px;display:flex;justify-content:space-between;font-size:12px;color:var(--muted);border-top:1px solid var(--line);padding-top:8px}#comparison-chart{padding-block:16px}
.simulation-comparison{margin-top:24px;border:1px solid var(--line);border-radius:18px;overflow:hidden;background:#fff}.comparison-heading{display:flex;align-items:flex-end;justify-content:space-between;gap:18px;padding:25px 26px 20px}.comparison-heading h3{font-size:20px;line-height:1.4;font-weight:600;letter-spacing:-.3px;margin:6px 0 0}.comparison-unit{font-size:13px;color:var(--muted);white-space:nowrap}.table-scroll{overflow-x:auto;overscroll-behavior-x:contain}.table-scroll table{border-collapse:collapse;width:100%;font-size:15px;white-space:nowrap}.table-scroll th,.table-scroll td{text-align:center;padding:18px 13px;border-bottom:1px solid var(--line);font-variant-numeric:tabular-nums}.table-scroll th:first-child{padding-left:26px;text-align:left;min-width:158px}.table-scroll thead th{background:#faf8fc;font-size:13px;font-weight:600;color:var(--body);padding-block:13px}.table-scroll tbody th{font-weight:600}.table-scroll td strong{font-size:16px;font-weight:550}.baseline-name{display:block;font-size:13px;color:var(--muted);margin-bottom:5px}.table-sublabel{display:block;font-size:12px;color:var(--muted);font-weight:400;margin-top:3px}.table-scroll .baseline-means{min-width:170px;border-left:1px solid var(--line)}.mean-list{display:grid;grid-template-columns:repeat(2,1fr);gap:6px 15px}.mean-list>span{display:flex;gap:7px;justify-content:space-between;font-size:12px;color:var(--muted)}.mean-list strong{font-size:13px!important;color:var(--body);font-weight:500!important}.table-scroll tr.ours{background:var(--brand-soft);color:var(--brand-purple)}.table-scroll tr.ours th,.table-scroll tr.ours strong{font-weight:650}.table-scroll tr.ours td:last-child{border-left:1px solid var(--brand-border)}.comparison-note{font-size:13px;line-height:1.7;color:var(--muted);padding:17px 26px;margin:0}.sr-only{position:absolute;width:1px;height:1px;padding:0;margin:-1px;overflow:hidden;clip:rect(0,0,0,0);white-space:nowrap;border:0}
.results-panel[data-view="pico"]{align-items:stretch}.results-panel[data-view="pico"] .chart-wrap{display:flex;align-items:stretch}.results-panel[data-view="pico"] #comparison-chart{width:100%;padding:0;display:flex;flex-direction:column}.results-panel[data-view="pico"] #bar-chart{flex:1;display:grid;gap:14px;grid-template-rows:repeat(3,1fr)}.results-panel[data-view="pico"] .bar-row{margin:0;grid-template-columns:minmax(0,1fr) auto;gap:17px 15px;padding:21px 22px;border:1px solid var(--line);border-radius:12px;background:white;align-content:center}.results-panel[data-view="pico"] .bar-label{font-size:15px;font-weight:550;line-height:1.45}.bar-detail{display:block;font-size:13px;font-weight:400;color:var(--muted);margin-top:5px}.results-panel[data-view="pico"] .bar-value{grid-column:2;grid-row:1;font-size:28px;line-height:1.3;font-weight:550;letter-spacing:-.6px}.results-panel[data-view="pico"] .bar-track{grid-column:1/-1;height:8px;background:#f2eef6;border-radius:8px}.results-panel[data-view="pico"] .bar-fill{border-radius:8px}.results-panel[data-view="pico"] .bar-row.highlight{background:var(--brand-soft);border-color:var(--brand-border)}.results-panel[data-view="pico"] .chart-scale{display:none}
.table-scroll .metric-sd{font-size:.8125em;font-weight:400}.mean-list .metric-sd{font-size:12px}
.data-note{font-size:13px;color:var(--muted);line-height:1.65;margin:21px 0 0}
.datasets-section{border-top:1px solid var(--line)}
.datasets-grid{display:grid;grid-template-columns:minmax(0,1fr);gap:24px;align-items:stretch}
.dataset-card{border:1px solid var(--line);border-radius:20px;padding:30px;min-width:0;background:#fff}
.dataset-card-heading h3{font-size:23px;line-height:1.3;font-weight:600;letter-spacing:-.5px;margin:8px 0 0}
.dataset-stage{font-size:12px;letter-spacing:normal;font-weight:600;color:var(--brand-purple)}
.dataset-duration{display:flex;align-items:baseline;gap:11px;margin:20px 0 11px;color:var(--brand-purple)}
.dataset-duration strong{font-size:54px;line-height:1.1;font-weight:600;letter-spacing:-2px;font-variant-numeric:tabular-nums}
.dataset-duration>span{font-size:19px;letter-spacing:-.3px}
.dataset-description{font-size:16px;line-height:1.7;color:var(--body);margin:14px 0 0}
.dataset-figure{margin:26px -10px 0}
.dataset-figure>a{display:block;border-radius:7px}
.dataset-figure img{display:block;width:100%;height:auto;transition:opacity .25s}
.dataset-figure>a:hover img{opacity:.88}
.dataset-figure figcaption{margin:19px 10px 0;display:flex;flex-direction:column;gap:5px;font-size:13px;line-height:1.7;color:var(--muted)}
.dataset-figure figcaption a{font-size:14px;color:var(--brand-purple);width:fit-content}
.dataset-figure figcaption a:hover{text-decoration:underline;text-underline-offset:4px}
.dataset-transfer{display:grid;grid-template-columns:repeat(2,minmax(0,1fr));gap:24px;min-width:0}
.dataset-pico{background:linear-gradient(130deg,var(--brand-tint),#fff 85%)}
.dataset-robot{background:linear-gradient(130deg,#faf8fc,#fff 85%)}
.dataset-stats{display:grid;gap:24px 20px;margin:29px 0 0;padding-top:23px;border-top:1px solid var(--brand-border)}
.dataset-stats-three{grid-template-columns:repeat(3,minmax(0,1fr))}
.dataset-stats-four{grid-template-columns:repeat(2,minmax(0,1fr))}
.dataset-stats>div{display:flex;flex-direction:column;align-items:center;gap:5px;min-width:0;text-align:center}
.dataset-stats dt{font-size:14px;color:var(--body);line-height:1.5}
.dataset-stats dd{order:-1;margin:0;font-size:33px;line-height:1.2;font-weight:600;letter-spacing:-1px;font-variant-numeric:tabular-nums;color:var(--ink)}
.dataset-pico .dataset-stats dd,.dataset-robot .dataset-stats dd{color:var(--brand-purple)}
.dataset-stat-note{position:relative;margin:14px 0 0;font-size:13px;line-height:1.5;text-align:center;color:var(--muted)}
.dataset-note-trigger{padding:5px 0;margin:-5px 0;background:none;color:inherit;font:inherit;text-decoration:underline dotted #b9c3cf;text-underline-offset:4px;cursor:help}
.dataset-note-trigger:hover,.dataset-note-trigger:focus-visible{color:var(--body);text-decoration-color:#8c9bac}
.dataset-note-tooltip{position:absolute;top:calc(100% + 9px);left:50%;transform:translateX(-50%);z-index:5;width:min(290px,100%);padding:11px 14px;border:1px solid var(--line);border-radius:10px;background:#fff;box-shadow:0 5px 20px #3d245714;color:var(--body);font-size:13px;font-style:normal;line-height:1.55;text-align:center}
.dataset-note-tooltip::after{content:"";position:absolute;bottom:100%;left:0;right:0;height:10px}
.dataset-task-count{white-space:nowrap}
.dataset-task-count sub{position:relative;bottom:-.16em;vertical-align:baseline;font-size:.55em;line-height:0;letter-spacing:-.2px;margin-left:2px}
.dataset-task-note{font-size:14px;line-height:1.65;color:var(--muted);margin:24px 0 0;padding-top:20px;border-top:1px solid var(--line)}
@media(max-width:1000px){.dataset-card{padding:25px}.dataset-card-heading h3{font-size:21px}.dataset-stats{gap:20px 15px}.dataset-stats dd{font-size:29px}}
@media(max-width:850px){.datasets-grid{grid-template-columns:1fr}.dataset-transfer{grid-template-columns:repeat(2,minmax(0,1fr));grid-template-rows:auto;gap:20px}.dataset-figure{max-width:630px;margin-inline:auto}.dataset-stats-three{grid-template-columns:repeat(2,minmax(0,1fr))}.dataset-stats-three>div:last-child{grid-column:1/-1}}
@media(max-width:580px){.dataset-transfer{grid-template-columns:1fr}.dataset-card{padding:25px 22px;border-radius:16px}.dataset-card-heading h3{font-size:22px}.dataset-duration strong{font-size:47px}.dataset-duration>span{font-size:18px}.dataset-stats-three{grid-template-columns:repeat(3,minmax(0,1fr))}.dataset-stats-three>div:last-child{grid-column:auto}.dataset-stats dd{font-size:29px}.dataset-stats dt{font-size:14px}.dataset-figure{margin:22px -10px 0}.dataset-figure figcaption{margin-inline:10px}.dataset-transfer{gap:20px}.dataset-task-note{font-size:14px}}
@media(max-width:350px){.nav{flex-wrap:wrap;justify-content:center;padding-block:10px;gap:8px}.dataset-stats-three{grid-template-columns:repeat(2,minmax(0,1fr))}.dataset-stats-three>div:last-child{grid-column:1/-1}}
.motion-section{background:var(--soft);border-block:1px solid #f1edf5}.video-tabs{display:flex;gap:30px;border-bottom:1px solid #e3dceb;margin-bottom:30px}.video-tabs button{background:none;color:var(--muted);padding:0 0 14px;font-size:16px;border-bottom:2px solid transparent;margin-bottom:-1px;display:flex;gap:10px;align-items:baseline}.video-tabs button[aria-selected=true]{color:var(--brand-purple);border-bottom-color:var(--brand-purple)}.video-tabs button span{font-size:13px;font-weight:400;color:var(--muted)}.video-panel{display:grid;grid-template-columns:minmax(0,1fr) 245px;gap:32px;align-items:start}.featured-video{min-width:0}.video-stage{aspect-ratio:16/9;background:#eee9f4;position:relative;border:1px solid #e3dcec;border-radius:16px;overflow:hidden}.media-badge{position:absolute;top:22px;left:24px;font-size:12px;letter-spacing:normal;color:#788596;z-index:2}.video-placeholder{position:absolute;inset:0;display:flex;flex-direction:column;justify-content:center;align-items:center;padding:45px;text-align:center;background:linear-gradient(140deg,#f4f0f8,#ece4f4)}.video-outline{width:53px;height:53px;border:1px solid #c7b8d8;border-radius:50%;display:grid;place-items:center;font-size:28px;color:#9782ac;padding-left:3px}.video-placeholder h3{font-size:25px;font-weight:500;letter-spacing:-.6px;margin:18px 0 1px}.video-placeholder p{font-size:14px;color:#958b9f;margin:0}.video-stage-footer{position:absolute;bottom:18px;left:24px;right:24px;display:flex;justify-content:space-between;color:#8c98a8;font-size:12px;pointer-events:none}.video-stage video{width:100%;height:100%;object-fit:contain;background:#111;position:relative;z-index:3}.video-caption{margin-top:19px}.video-caption h3{font-size:20px;font-weight:600;margin:0 0 5px}.video-caption p{margin:0;color:var(--body);font-size:15px;line-height:1.7}.task-browser>h3{font-size:14px;color:var(--muted);font-weight:500;margin:0 0 10px}.task-buttons{display:flex;flex-direction:column;gap:4px}.task-button{display:flex;gap:15px;align-items:center;text-align:left;padding:12px 15px;border-radius:8px;background:transparent;color:var(--body);font-size:15px;transition:background .2s,color .2s}.task-button>span{font-size:12px;color:#98a2b0;font-variant-numeric:tabular-nums}.task-button[aria-pressed=true]{background:#fff;box-shadow:0 2px 6px #49306808;color:var(--brand-purple)}.task-button:hover{background:#ffffff99}.media-note{font-size:12px;color:var(--muted);line-height:1.7;margin:19px 0 0}

#radar-legend-hint{margin:3px 0 14px;text-align:center}
.dataset-duration strong,.dataset-stats dd,#result-value{font-variant-numeric:tabular-nums}
@media(max-width:480px){#radar-legend-hint{text-align:left}}

.video-toolbar{display:flex;align-items:center;justify-content:space-between;gap:14px;margin:0 0 14px;min-height:39px}
.video-loading-poster{position:absolute;inset:0;width:100%;height:100%;object-fit:contain;background:#eee9f4;z-index:4;pointer-events:none}
.video-tabs{flex-wrap:wrap;row-gap:16px}
.video-meta{display:flex;align-items:center;flex-wrap:wrap;gap:8px 14px;margin-left:auto}
.playback-speed{font-size:14px;font-weight:550;color:var(--brand-purple);background:var(--brand-soft);border:1px solid var(--brand-border);border-radius:7px;padding:5px 10px;white-space:nowrap}
@media(max-width:480px){.video-meta{margin-left:0}.video-tabs button[data-video-domain="success"]{font-size:15px}}
.camera-switch{display:inline-flex;gap:3px;background:#ece6f2;border:1px solid #e4dced;border-radius:10px;padding:3px}
.camera-switch button{font-size:14px;font-weight:500;line-height:1.4;padding:7px 13px;border-radius:7px;background:transparent;color:var(--body);transition:background .2s,color .2s,box-shadow .2s}
.camera-switch button[aria-pressed=true]{background:white;color:var(--brand-purple);box-shadow:0 1px 5px #43285a0b}
.camera-switch button:hover{color:var(--brand-purple)}
.video-quality{font-size:13px;color:var(--muted);white-space:nowrap}
.video-caption-heading{display:flex;align-items:baseline;justify-content:space-between;gap:12px}
.video-caption-heading>span{font-size:13px;color:var(--muted);font-variant-numeric:tabular-nums}
.video-caption .video-status{font-size:13px;color:var(--muted);margin-top:7px}
.video-status:empty{display:none}
@media(max-width:480px){.video-toolbar{flex-wrap:wrap;gap:9px}.camera-switch button{padding:7px 11px}.video-quality{font-size:12px}}

.method-intro{font-size:18px;line-height:1.75;color:var(--body);max-width:900px;margin:0 0 34px}.paper-figure{margin:0}.paper-figure-placeholder{aspect-ratio:2.7;min-height:230px;display:flex;align-items:center;justify-content:center;flex-direction:column;text-align:center;border:1px dashed #d5cbe0;border-radius:12px;background:#fcfafd;padding:30px}.figure-number{font-size:13px;letter-spacing:1.2px;color:#8e9aad}.paper-figure-placeholder h3{font-size:22px;font-weight:500;color:#697788;margin:15px 0 6px;letter-spacing:-.5px}.paper-figure-placeholder p{font-size:15px;color:#8893a2;margin:0}.figure-format{font-size:12px;color:#9aa4b0;margin-top:20px}.paper-figure img{display:block;max-width:100%;height:auto;margin-inline:auto}.paper-figure figcaption{font-size:14px;color:var(--muted);line-height:1.75;margin:18px auto 0;max-width:1000px}.training-summary{display:grid;grid-template-columns:repeat(3,1fr);gap:37px;margin-top:39px;padding-top:28px;border-top:1px solid var(--line)}.training-summary article>span{font-size:13px;color:var(--brand-purple);font-weight:600}.training-summary h3{font-size:18px;font-weight:600;letter-spacing:-.25px;margin:7px 0 10px}.training-summary p{font-size:15px;line-height:1.7;color:var(--body);margin:0}.site-footer{display:flex;align-items:center;justify-content:space-between;gap:20px;border-top:1px solid var(--line);padding-block:27px;color:var(--muted);font-size:13px}.footer-brand{font-size:18px;color:var(--ink);font-weight:600}
.method-figure-link{display:block;border:1px solid var(--line);border-radius:16px;padding:20px;background:white;cursor:zoom-in}.method-paper-figure img{width:100%;max-width:100%;height:auto}.method-paper-figure figcaption{display:flex;align-items:flex-start;justify-content:space-between;gap:25px;max-width:none}.method-paper-figure figcaption p{margin:0;max-width:870px}.method-paper-figure figcaption>a{color:var(--brand-purple);white-space:nowrap}.method-paper-figure figcaption>a:hover{text-decoration:underline;text-underline-offset:4px}@media(max-width:780px){.method-paper-figure figcaption{flex-direction:column;gap:10px}.method-figure-link{padding:8px;border-radius:10px}}
.hero-enter{animation:enter .7s var(--ease) both}.hero-enter:nth-child(2){animation-delay:.05s}.hero-enter:nth-child(3){animation-delay:.1s}.hero-enter:nth-child(4){animation-delay:.15s}.js .reveal{opacity:0;transform:translateY(15px);transition:opacity .7s var(--ease),transform .7s var(--ease)}.js .reveal.visible{opacity:1;transform:none}@keyframes enter{from{opacity:0;transform:translateY(12px)}to{opacity:1;transform:none}}
@media(max-width:1000px){.nav-context{display:none}.results-panel{grid-template-columns:240px minmax(0,1fr);gap:28px;padding:30px}.result-big{font-size:70px}.section-aside{font-size:14px}.chart-heading{flex-direction:column;align-items:flex-start;gap:2px}.video-panel{grid-template-columns:minmax(0,1fr) 210px;gap:24px}.task-button{font-size:14px;padding:10px}.research-facts{gap:20px;font-size:16px}.research-facts strong{font-size:25px}}
@media(max-width:780px){.shell{width:calc(100% - 40px)}.nav{min-height:66px}.nav-links{gap:17px}.wordmark{font-size:18px}.hero{padding-top:44px}.hero h1{font-size:34px;letter-spacing:-.8px}.paper-name{font-size:43px}.hero-summary{font-size:17px}.desktop-break{display:none}.abstract-block{grid-template-columns:1fr;gap:10px}.abstract-block p{font-size:16px}.section{padding-block:64px}.section-aside{display:none}.results-panel{grid-template-columns:1fr;padding:30px;gap:35px}.result-story{max-width:600px}.result-big{font-size:70px;margin-top:18px}.result-story h3{margin:15px 0 12px}.result-footnote{margin-top:15px}.section-link{margin-top:16px}.chart-wrap{border-top:1px solid var(--line);padding-top:27px}.chart-heading{flex-direction:row;align-items:center}.video-panel{grid-template-columns:1fr}.task-buttons{display:grid;grid-template-columns:repeat(3,1fr)}.task-browser{margin-top:0}.task-button{font-size:14px;padding:12px 10px;gap:8px}.media-note{margin-top:15px}.training-summary{gap:23px}.site-footer{flex-wrap:wrap}.site-footer>span:last-child{flex-basis:100%}}
@media(max-width:480px){html{scroll-padding-top:86px}.shell{width:calc(100% - 32px)}.nav{gap:13px;min-height:62px}.wordmark{font-size:17px}.nav-links{gap:13px;font-size:13px}.nav-links a:first-child{display:none}.eyebrow{font-size:12px;letter-spacing:normal}.hero h1{font-size:28px;line-height:1.3;letter-spacing:-.65px;margin-top:18px}.paper-name{font-size:38px;margin-bottom:16px}.hero-summary{font-size:16px;line-height:1.7}.resource-block{margin:24px 0 32px}.paper-resources{gap:8px}.resource-button{padding:8px 11px;gap:7px;font-size:14px;min-height:42px}.resource-button img{width:20px;height:20px}.abstract-block{padding-top:24px}.research-facts{grid-template-columns:1fr;gap:18px;font-size:16px;padding-top:24px}.research-facts strong{font-size:24px;margin-bottom:1px}.section-title{font-size:33px;letter-spacing:-1px}.section-kicker{font-size:12px;margin-bottom:15px}.section-heading{margin-bottom:28px}.results-tabs{width:100%;gap:2px;padding:4px}.results-tabs button{padding:11px 8px;font-size:14px;flex:1;white-space:nowrap}.results-panel{padding:25px 18px;border-radius:16px;gap:27px}.result-big{font-size:67px}.chart-eyebrow{font-size:12px}.result-story h3{font-size:21px}.chart-heading{display:block}.chart-heading h3{font-size:17px}.chart-heading>span{font-size:12px;display:block;margin-top:3px}.radar-legend{justify-content:flex-start;gap:2px 14px;margin-top:14px}.legend-button{font-size:14px}.radar-canvas{min-height:315px}.bar-row{grid-template-columns:91px minmax(0,1fr) 47px;gap:8px;font-size:13px}.chart-scale{margin-left:99px;margin-right:55px}.data-note{font-size:12px}.video-tabs{gap:23px}.video-tabs button{font-size:15px;gap:7px}.video-tabs button span{font-size:13px}.video-placeholder{padding:35px 18px}.video-placeholder h3{font-size:22px;margin-top:12px}.video-outline{width:42px;height:42px;font-size:23px}.media-badge{font-size:12px;top:12px;left:15px;letter-spacing:0}.video-stage-footer{left:15px;right:15px;bottom:10px;font-size:12px}.video-placeholder p{font-size:13px}.task-buttons{grid-template-columns:repeat(2,1fr)}.task-button{font-size:14px;padding:11px 10px}.video-caption p{font-size:14px}.method-intro{font-size:16px;line-height:1.75}.paper-figure-placeholder{aspect-ratio:auto;min-height:250px;padding:27px 20px}.paper-figure-placeholder h3{font-size:20px}.paper-figure-placeholder p{font-size:14px}.training-summary{grid-template-columns:1fr;gap:25px}.training-summary article+article{padding-top:23px;border-top:1px solid var(--line)}.training-summary p{font-size:15px}.site-footer{font-size:12px;gap:8px}.comparison-heading{padding:21px 18px 18px;display:block}.comparison-heading h3{font-size:19px}.comparison-unit{display:block;margin-top:9px}.comparison-note{padding:15px 18px;font-size:12px}.table-scroll th:first-child{padding-left:18px}.results-panel[data-view="pico"] .bar-row{padding:19px 15px;gap:15px 12px}.results-panel[data-view="pico"] .bar-label{font-size:14px}.results-panel[data-view="pico"] .bar-value{font-size:25px}.bar-detail{font-size:12px}}
/* Homepage: a paper-first title stack, framed by the original robot cutout. */
.hero-with-image{padding-top:0;background:#fff}
.hero-intro{--hero-art-width:min(1600px,100vw);position:relative;display:flex;align-items:center;justify-content:center;min-height:max(620px,calc(100svh - 75px));padding:54px 0 90px;overflow:hidden;isolation:isolate}
.hero-robot{position:absolute;top:0;left:50%;width:var(--hero-art-width);max-width:none;height:auto;transform:translateX(-50%);object-fit:contain;z-index:0;pointer-events:none;mask-image:linear-gradient(#000 72%,transparent 98%);-webkit-mask-image:linear-gradient(#000 72%,transparent 98%)}
.hero-intro::after{content:"";position:absolute;inset:0;z-index:1;pointer-events:none;background:linear-gradient(90deg,transparent 17%,#ffffff66 27%,#ffffff99 40%,#ffffff99 60%,#ffffff66 73%,transparent 83%)}
.hero-copy{position:relative;z-index:2;width:100%}
.hero-intro .hero-eyebrow{position:static;width:auto;margin:0 24px;color:#7c828b;font-size:clamp(12px,1.25vw,18px);font-weight:600;line-height:1.5;letter-spacing:2px}
.hero-with-image .hero-title{position:static;width:min(1150px,72%);max-width:none;margin:30px auto 0;text-align:center;font-size:clamp(28px,3.6vw,56px);line-height:1.22;letter-spacing:-1.3px;font-weight:700;color:#202328;text-shadow:none}
.hero-with-image .paper-name{position:static;display:block;width:auto;font-size:clamp(58px,6.4vw,96px);line-height:1.05;letter-spacing:-2.7px;margin:0 0 28px;color:var(--brand-purple);font-weight:750;text-shadow:none}
.hero-with-image .paper-subtitle{display:block;text-wrap:balance}
.hero-with-image .title-phrase{white-space:nowrap}
.hero-tail{position:relative;width:min(1000px,66%);margin:30px auto 0;padding:0}
.hero-tail .hero-summary{font-size:clamp(18px,1.7vw,25px);line-height:1.65;color:#606873;text-shadow:none}
.hero-tail .resource-block{margin:30px 0 0;padding:0}
.hero-intro .resources-status{margin-top:11px}
.hero-content{position:relative;margin-top:0}
.paper-authors{display:flex;flex-wrap:wrap;justify-content:center;align-items:baseline;gap:8px 25px;width:min(1050px,78%);padding:0;margin:25px auto 0;list-style:none;font-size:21px;line-height:1.5;font-weight:500;letter-spacing:-.2px;color:var(--ink)}
.paper-authors li{white-space:nowrap}
.paper-authors a:hover,.paper-authors a:focus-visible{color:var(--brand-purple);text-decoration:underline;text-decoration-thickness:1px;text-underline-offset:4px}
.paper-authors sup{position:relative;top:-.45em;vertical-align:baseline;font-size:.76em;line-height:0;margin-left:2px;color:#000}
.paper-institutions{display:grid;grid-template-columns:minmax(0,1fr) max-content minmax(0,1fr);align-items:start;gap:40px;width:min(960px,calc(100% - 64px));margin:28px auto 0;padding:0}
.institution{min-width:0;text-align:center}
.institution-logo{position:relative;display:flex;align-items:center;justify-content:center;height:60px;overflow:hidden;background:transparent}
.institution-logo img{display:block;max-width:100%;max-height:100%;height:auto;object-fit:contain}
.institution-tsinghua .institution-logo img{width:min(100%,245px)}
.institution-xiongan .institution-logo img{position:absolute;width:128px;max-width:none;max-height:none;height:128px;top:-35px;left:50%;transform:translateX(-50%)}
.institution-melbourne .institution-logo img{width:min(100%,215px)}
.institution>span{display:block;margin-top:8px;font-size:12px;line-height:1.5;color:var(--muted);white-space:nowrap}
@media(max-width:780px){.paper-authors{width:82%;font-size:19px;gap:8px 20px;margin-top:23px}.paper-institutions{grid-template-columns:repeat(3,minmax(0,1fr));gap:20px;width:86%;margin-top:26px}.institution-logo{height:50px}.institution-xiongan .institution-logo img{width:106px;height:106px;top:-29px}.institution>span{font-size:11px;white-space:normal}}
@media(min-width:581px) and (max-width:780px){.paper-authors{display:grid;grid-template-columns:repeat(3,max-content);width:68%;gap:8px 18px;font-size:18px}}
@media(max-width:480px){.paper-authors{width:calc(100% - 48px);max-width:330px;font-size:18px;gap:7px 22px;margin-top:24px}.paper-institutions{width:calc(100% - 36px);gap:12px;margin-top:26px}.institution-logo{height:40px}.institution-xiongan .institution-logo img{width:85px;height:85px;top:-23px}.institution>span{margin-top:6px;font-size:10px;line-height:1.4}}
@media(max-width:1000px){.hero-with-image .hero-title{width:70%;font-size:clamp(26px,3.2vw,32px)}.hero-tail{width:68%}.hero-tail .hero-summary{font-size:18px}.hero-tail .desktop-break{display:none}}
@media(max-width:780px){.hero-intro{min-height:max(640px,calc(100svh - 69px));padding:48px 0 72px}.hero-robot{top:calc(50% - 27vw)}.hero-intro .hero-eyebrow{font-size:11px;letter-spacing:1.4px}.hero-with-image .hero-title{width:72%;margin-top:27px;font-size:clamp(22px,3.5vw,29px);letter-spacing:-.7px}.hero-with-image .paper-name{font-size:58px;margin-bottom:26px;letter-spacing:-2px}.hero-tail{width:min(580px,76%);margin-top:26px}.hero-tail .hero-summary{font-size:17px}.hero-tail .resource-block{margin-top:25px}}
@media(min-width:581px) and (max-width:780px){.hero-with-image .hero-title .desktop-break{display:initial}}
@media(max-width:580px){.hero-intro{min-height:max(650px,calc(100svh - 65px));padding:40px 0 76px;align-items:flex-start}.hero-robot{top:150px}.hero-intro .hero-eyebrow{max-width:300px;margin-inline:auto;font-size:10px;letter-spacing:1.15px;line-height:1.6}.hero-with-image .hero-title{width:66%;margin-top:24px;font-size:clamp(22px,6.1vw,29px);line-height:1.22;letter-spacing:-.6px}.hero-with-image .paper-name{font-size:clamp(43px,13vw,66px);margin-bottom:26px;letter-spacing:-1.8px}.hero-tail{width:calc(100% - 56px);max-width:430px;margin-top:28px}.hero-tail .hero-summary{font-size:16px;line-height:1.7}.hero-tail .resource-block{margin-top:25px}.hero-intro .paper-resources{gap:8px}.hero-intro .resource-button{font-size:13px;padding:9px 10px;gap:6px}.hero-intro .resources-status{font-size:11px}}
/* Method only: explanatory stages on the left, proportional paper figure on the right. */
@media(min-width:1000px){
  .method-section{display:grid;grid-template-columns:minmax(300px,.9fr) minmax(0,1.8fr);column-gap:40px;row-gap:22px;align-content:center}
  .method-section>.section-heading{grid-column:1;grid-row:1;margin:0}
  .method-section .section-kicker{margin-bottom:12px}
  .method-section .section-title{font-size:clamp(26px,2.4vw,30px);line-height:1.2;letter-spacing:-.8px}
  .method-section .section-title .muted{white-space:nowrap}
  .method-section .method-intro{grid-column:1;grid-row:2;margin:0;font-size:16px;line-height:1.7}
  .method-section .method-paper-figure{grid-column:2;grid-row:1/4;align-self:center;min-width:0}
  .method-section .method-figure-link{padding:10px}
  .method-section .method-paper-figure figcaption{display:block;font-size:13px;line-height:1.7;margin-top:14px}
  .method-section .method-paper-figure figcaption>a{display:inline-block;margin-top:8px}
  .method-section .training-summary{grid-column:1;grid-row:3;grid-template-columns:1fr;gap:20px;margin:0;padding-top:20px}
  .method-section .training-summary h3{font-size:17px;margin:3px 0 5px}
  .method-section .training-summary p{font-size:15px;line-height:1.6}
}
.citation-section{padding-block:0 64px}
.citation-heading{display:flex;justify-content:space-between;align-items:center;gap:20px;margin-bottom:18px}
.citation-heading h2{margin:0;font-size:30px;font-weight:600;letter-spacing:-.8px;line-height:1.3}
.citation-copy{display:inline-flex;align-items:center;justify-content:center;gap:8px;padding:9px 14px;border:1px solid var(--line);border-radius:9px;background:#fff;color:var(--body);font-size:14px;line-height:1.4;transition:background .2s,color .2s}
.citation-copy:not(:disabled):hover{background:var(--soft);color:var(--brand-purple)}
.citation-copy:disabled{cursor:default;opacity:.45}
.citation-code{margin:0;padding:26px 28px;border:1px solid var(--line);border-radius:16px;background:#faf8fc;color:#424c5b;overflow-x:auto;overscroll-behavior-x:contain;text-align:left;font:14px/1.8 ui-monospace,SFMono-Regular,Menlo,Consolas,"Liberation Mono",monospace;tab-size:2}
.citation-code code{font:inherit}
.citation-status{min-height:21px;margin:9px 0 0;font-size:13px;color:var(--muted)}
@media(max-width:580px){.citation-section{padding-bottom:40px}.citation-heading h2{font-size:27px}.citation-code{padding:20px 18px;font-size:13px;line-height:1.75;border-radius:12px}}
/* Inline figure viewer: no PDF navigation, with fit/zoom modes on every screen. */
.figure-is-open{overflow:hidden}
.figure-dialog{padding:0;width:min(1440px,94vw);height:min(920px,92vh);height:min(920px,92svh);max-width:none;max-height:92vh;max-height:92svh;border:1px solid #e3dcea;border-radius:16px;background:white;color:var(--ink);box-shadow:0 24px 100px #25153733;overflow:hidden}
.figure-dialog::backdrop{background:#26173580;backdrop-filter:blur(6px);-webkit-backdrop-filter:blur(6px)}
.figure-dialog[open]{display:grid;grid-template-rows:auto minmax(0,1fr);animation:figure-open .22s var(--ease)}
.figure-dialog-toolbar{display:flex;align-items:center;justify-content:space-between;gap:20px;padding:18px 22px;border-bottom:1px solid var(--line);flex:none}
.figure-dialog-toolbar h2{margin:0;font-size:17px;line-height:1.4;font-weight:600}
.figure-dialog-toolbar>div{display:flex;gap:8px;flex:none}
.figure-dialog-toolbar button{padding:8px 12px;border-radius:8px;background:var(--soft);color:var(--body);font-size:14px;white-space:nowrap}
.figure-dialog-toolbar button:hover{background:var(--brand-soft);color:var(--brand-purple)}
.figure-dialog-toolbar button span{font-size:19px;line-height:1;margin-left:5px}
.figure-dialog-body{overflow:auto;overscroll-behavior:contain;min-width:0;min-height:0;padding:22px;text-align:center}
.figure-dialog-body img{display:block;width:100%;height:100%;max-width:100%;max-height:100%;margin:0 auto;object-fit:contain;cursor:zoom-in}
.figure-dialog-body.is-zoomed img{width:180%;height:auto;min-width:1100px;max-width:none;max-height:none;cursor:zoom-out}
@keyframes figure-open{from{opacity:0;transform:translateY(8px) scale(.985)}to{opacity:1;transform:none}}
/* Source-backed nested donut; shares match the paper, palette follows the website. */
.dataset-donut{width:100%;max-width:510px;margin:-12px auto -6px}
.dataset-donut svg{display:block;width:100%;overflow:visible}
.donut-reveal{stroke-dasharray:1;stroke-dashoffset:1;transition:stroke-dashoffset 1.3s var(--ease)}
.dataset-chart.is-visible .donut-reveal{stroke-dashoffset:0}
.donut-slice{cursor:pointer;transform-box:fill-box;transform-origin:center;transition:transform .28s var(--ease),opacity .25s}
.donut-slice.is-active{transform:translate(var(--slice-x),var(--slice-y)) scale(1.035)}
.donut-slice.is-muted{opacity:.45}
.donut-slice:focus-visible{outline:none}
.donut-slice:focus-visible path{stroke:var(--brand-purple);stroke-width:2}
.donut-group-label{font-size:14px;font-weight:650;pointer-events:none}
.donut-center{pointer-events:none}
.donut-value{fill:#273845;font-size:34px;font-weight:650;letter-spacing:-1px;font-variant-numeric:tabular-nums}
.donut-label{fill:var(--body);font-size:15px;font-weight:500}
.dataset-chart-hint{font-size:12px;color:var(--muted);text-align:center;margin:0 0 18px}
.dataset-legend{display:grid;gap:12px;margin:0 10px}
.dataset-source-group{padding-bottom:12px;border-bottom:1px solid var(--line)}
.dataset-source-group:last-child{padding-bottom:0;border-bottom:0}
.dataset-group-button{display:flex;align-items:center;justify-content:space-between;gap:12px;width:100%;padding:4px 0 7px;text-align:left;background:none;color:var(--source-color);font-size:14px;line-height:1.5;font-weight:600}
.dataset-group-button strong{font-size:14px;font-weight:650;font-variant-numeric:tabular-nums}
.dataset-source-list{display:grid;grid-template-columns:repeat(2,minmax(0,1fr));gap:3px 18px}
.dataset-source-button{display:flex;align-items:center;gap:7px;min-width:0;padding:5px 0;min-height:32px;background:none;color:var(--body);text-align:left;font-size:13px;line-height:1.45}
.dataset-source-button i{width:10px;height:10px;flex:none;border-radius:2px;background:var(--source-color);box-shadow:inset 0 0 0 1px #00000012}
.dataset-source-name{flex:1;min-width:0;overflow-wrap:anywhere;transform-origin:left center;transition:transform .25s,color .25s}
.dataset-source-share{flex:none;font-variant-numeric:tabular-nums}
.dataset-source-button.is-active .dataset-source-name{transform:scale(1.05);font-weight:650;color:var(--ink)}
.dataset-source-button.is-active .dataset-source-share{color:var(--ink);font-weight:650}
.dataset-group-button.is-active span{transform:scale(1.035);transform-origin:left center}
/* Full-width Stage I: composition on the left, readable source legend on the right. */
@media(min-width:851px){
  .dataset-pretrain{display:grid;grid-template-columns:minmax(0,1fr) auto;gap:16px 30px;align-items:center}
  .dataset-pretrain>.dataset-duration{margin:0;justify-self:end}
  .dataset-pretrain>.dataset-description{grid-column:1/-1;max-width:880px;margin:0}
  .dataset-pretrain>.dataset-figure{grid-column:1/-1;margin:6px 0 0;min-width:0}
  .dataset-chart{display:grid;grid-template-columns:minmax(0,1fr) minmax(0,1fr);column-gap:36px;align-items:center}
  .dataset-donut{grid-column:1;grid-row:1;width:100%;max-width:490px;margin:0 auto}
  .dataset-chart-hint{grid-column:1;grid-row:2;margin:0;text-align:center}
  .dataset-legend{grid-column:2;grid-row:1/3;margin:0;gap:16px}
  .dataset-group-button,.dataset-group-button strong{font-size:15px}
  .dataset-source-button{font-size:14px;min-height:36px}
  .dataset-source-list{column-gap:18px}
  .dataset-pretrain .dataset-figure figcaption{flex-direction:row;justify-content:space-between;align-items:baseline;gap:18px;margin:20px 0 0;padding-top:18px;border-top:1px solid var(--line)}
  .dataset-pretrain .dataset-figure figcaption a{flex:none}
  .dataset-pretrain #dataset-static{max-width:660px;margin:auto}
}
@media(min-width:1100px){
  .dataset-transfer .dataset-stats-four{grid-template-columns:minmax(0,.8fr) minmax(0,.8fr) minmax(0,1fr) minmax(0,1.45fr);gap:14px}
}
/* Shared header/description/stat/note rows keep the two cards aligned as text wraps. */
@media(min-width:581px){
  .dataset-transfer{grid-template-rows:repeat(4,auto);row-gap:0}
  .dataset-transfer>.dataset-card{display:grid;grid-row:span 4;grid-template-rows:subgrid;row-gap:0}
  .dataset-transfer .dataset-stats{align-self:start}
}
@media(max-width:580px){.figure-dialog{width:96vw;height:min(92svh,calc(72vw + 100px));border-radius:12px}.figure-dialog-toolbar{padding:12px;gap:8px;align-items:flex-start}.figure-dialog-toolbar h2{font-size:14px;max-width:55%}.figure-dialog-toolbar button{font-size:12px;padding:7px 9px}.figure-dialog-body{padding:12px}.dataset-source-list{column-gap:12px}.dataset-source-button{font-size:12px}.dataset-group-button,.dataset-group-button strong{font-size:13px}.dataset-chart-hint{font-size:11px}.dataset-legend{margin-inline:8px}}
@media(prefers-reduced-motion:reduce){html{scroll-behavior:auto}*,*::before,*::after{animation:none!important;transition:none!important;scroll-behavior:auto!important}.js .reveal{opacity:1;transform:none}.donut-reveal{stroke-dashoffset:0}}