:root {
  --page-bg: linear-gradient(180deg, #f4f7fb 0%, #ffffff 24%);
  --surface: #ffffff;
  --surface-border: #e7edf5;
  --text-primary: #1d2736;
  --text-secondary: #4e5d73;
  --accent: #1e66d0;
  --card-shadow: 0 14px 30px rgba(16, 44, 84, 0.08);
}

body {
  font-family: 'Noto Sans', sans-serif;
  color: var(--text-primary);
  background: var(--page-bg);
}

.navbar.is-light {
  background-color: rgba(255, 255, 255, 0.9);
  backdrop-filter: blur(8px);
  border-bottom: 1px solid var(--surface-border);
}

.navbar-item {
  font-weight: 600;
  color: var(--text-secondary);
}

.navbar-item:hover {
  color: var(--accent) !important;
}

/* 减小章节之间的间隔 */
.section {
  padding: 2rem 1.5rem;
}

.section .title {
  color: var(--text-primary);
}

.section-subtitle {
  color: #24344b;
  margin-bottom: 1rem !important;
}

.footer .icon-link {
    font-size: 25px;
    color: #000;
}

.link-block a {
    margin-top: 5px;
    margin-bottom: 5px;
}

.dnerf {
  font-variant: small-caps;
}


.teaser .hero-body {
  padding-top: 0;
  padding-bottom: 3rem;
}

.teaser {
  font-family: 'Google Sans', sans-serif;
}


.publication-title {
  color: #18253a;
  letter-spacing: -0.03em;
}

.publication-banner {
  max-height: parent;

}

.publication-banner video {
  position: relative;
  left: auto;
  top: auto;
  transform: none;
  object-fit: fit;
}

.publication-header .hero-body {
}

.publication-title {
    font-family: 'Google Sans', sans-serif;
}

.publication-authors {
    font-family: 'Google Sans', sans-serif;
}

.publication-venue {
    color: #555;
    width: fit-content;
    font-weight: bold;
}

.publication-awards {
    color: #ff3860;
    width: fit-content;
    font-weight: bolder;
}

.publication-authors {
}

.publication-authors a {
   color: hsl(204, 86%, 53%) !important;
}

.publication-authors a:hover {
    text-decoration: underline;
}

.author-block {
  display: inline-block;
}

.publication-banner img {
}

.publication-authors {
  /*color: #4286f4;*/
}

.publication-video {
    position: relative;
    width: 100%;
    height: 0;
    padding-bottom: 56.25%;

    overflow: hidden;
    border-radius: 10px !important;
    box-shadow: var(--card-shadow);
    border: 1px solid var(--surface-border);
}

.publication-video iframe {
    position: absolute;
    top: 0;
    left: 0;
    width: 100%;
    height: 100%;
}

.publication-body img {
}

.results-carousel {
  overflow: hidden;
}

.results-carousel .item {
  margin: 5px;
  overflow: hidden;
  border: 1px solid #bbb;
  border-radius: 10px;
  padding: 0;
  font-size: 0;
}

.results-carousel video {
  margin: 0;
}

.media-figure {
  margin: 0;
  padding: 1rem;
  border-radius: 14px;
  background: var(--surface);
  border: 1px solid var(--surface-border);
  box-shadow: var(--card-shadow);
}

.media-caption {
  max-width: 100%;
  margin: 1rem auto 0;
  text-align: left;
  font-size: 0.95rem;
  line-height: 1.6;
  color: var(--text-secondary);
}

.motivation-video {
  max-width: 100%;
}

.qualitative-image {
  width: 100%;
  height: auto;
  display: block;
  border-radius: 10px;
}

.qualitative-video {
  width: 100%;
  display: block;
  border-radius: 10px;
  background: #0e1623;
}

.video-stack {
  display: flex;
  flex-direction: column;
  gap: 1.25rem;
}

.citation-card {
  border: 1px solid var(--surface-border);
  border-radius: 14px;
  background: var(--surface);
  box-shadow: var(--card-shadow);
  padding: 1rem;
}

.citation-head {
  display: flex;
  align-items: center;
  justify-content: space-between;
  gap: 0.75rem;
  margin-bottom: 0.75rem;
}

.citation-hint {
  margin: 0;
  color: var(--text-secondary);
  font-size: 0.95rem;
}

.citation-copy-btn {
  border-radius: 999px;
}

.citation-pre {
  margin: 0 !important;
  background: var(--page-bg);
  border-radius: 10px;
  padding: 1rem 1.1rem;
  overflow-x: auto;
  border: 1px solid var(--surface-border);
}

.citation-pre code {
  color: var(--text-primary);
  background: transparent;
  font-size: 0.88rem;
  line-height: 1.55;
  white-space: pre;
}


.interpolation-panel {
  background: #f5f5f5;
  border-radius: 10px;
}

.interpolation-panel .interpolation-image {
  width: 100%;
  border-radius: 5px;
}

.interpolation-video-column {
}

.interpolation-panel .slider {
  margin: 0 !important;
}

.interpolation-panel .slider {
  margin: 0 !important;
}

#interpolation-image-wrapper {
  width: 100%;
}
#interpolation-image-wrapper img {
  border-radius: 5px;
}

@media screen and (max-width: 768px) {
  .section {
    padding: 1.5rem 1rem;
  }

  .media-figure {
    padding: 0.8rem;
  }

  .publication-title {
    font-size: 1.9rem !important;
    line-height: 1.2;
  }

  .citation-head {
    flex-direction: column;
    align-items: flex-start;
  }
}

/* ---- DynamicHOI additions ---- */
body {
  padding-top: 3.25rem;
}

.method-name {
  font-variant: small-caps;
  font-weight: 600;
}

.publication-title .method-name {
  font-variant: normal;
  color: var(--accent);
}

.is-disabled-link {
  background-color: #cfd5dd !important;
  color: #5b6573 !important;
  cursor: not-allowed;
  pointer-events: none;
}

.teaser-section {
  padding-top: 0;
}

.section-lead {
  max-width: 820px;
  margin: 0 auto 1.25rem;
  color: var(--text-secondary);
  line-height: 1.6;
}

.media-note {
  max-width: 820px;
  margin: 1rem auto 0;
  color: var(--text-secondary);
  font-size: 0.88rem;
  line-height: 1.55;
}

.demo-title {
  font-weight: 600;
  color: #24344b;
  margin-bottom: 0.6rem;
}

.framework-image {
  max-width: 560px;
  margin: 0 auto;
}

#results .video-stack .media-figure {
  padding: 0.75rem;
}

/* ---- tables (paper Table 1) ---- */
.table-wrap {
  overflow-x: auto;
  margin: 0 auto 1.5rem;
  background: var(--surface);
  border: 1px solid var(--surface-border);
  border-radius: 14px;
  box-shadow: var(--card-shadow);
  padding: 0.75rem 1rem 1rem;
}

.table-row {
  display: grid;
  grid-template-columns: 1.35fr 1fr;
  gap: 1.25rem;
}

.table-row > .table-wrap {
  margin: 0;
}

.results-table {
  width: 100%;
  border-collapse: collapse;
  font-variant-numeric: tabular-nums;
  font-size: 0.86rem;
  color: var(--text-primary);
}

.results-table caption {
  caption-side: top;
  text-align: left;
  font-weight: 600;
  color: #24344b;
  padding: 0.2rem 0 0.6rem;
  font-size: 0.95rem;
}

.results-table th,
.results-table td {
  padding: 0.38rem 0.45rem;
  text-align: center;
  white-space: nowrap;
  border-bottom: 1px solid var(--surface-border);
}

.results-table thead th {
  font-weight: 600;
  color: #35445a;
  border-bottom: 2px solid #d7dfea;
}

.results-table th.group {
  border-bottom: 1px solid #d7dfea;
  color: #24344b;
}

.results-table .first {
  text-align: left;
}

.results-table .group-row td {
  text-align: left;
  font-style: italic;
  color: #6b7a90;
  background: #f7f9fc;
  font-size: 0.8rem;
}

.results-table .ours-row td {
  background: #edf3fb;
}

.results-table td.best {
  font-weight: 700;
}

.results-table td.second {
  text-decoration: underline;
  text-underline-offset: 2px;
}

/* ---- demo grids ---- */
.legend {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 0.4rem 1.25rem;
  margin: 0 auto 1rem;
  font-size: 0.9rem;
  color: var(--text-secondary);
}

.legend .sw {
  display: inline-block;
  width: 0.8rem;
  height: 0.8rem;
  border-radius: 3px;
  margin-right: 0.4rem;
  vertical-align: -1px;
}

.sw-input { background: #3c3c3c; }
.sw-gt { background: #46965f; }
.sw-base { background: #be5f82; }
.sw-ours { background: #376ebe; }

.demo-grid {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 1.25rem;
  max-width: 1120px;
  margin: 0 auto;
}

.demo-tile {
  margin: 0;
  padding: 0.6rem;
  border-radius: 14px;
  background: var(--surface);
  border: 1px solid var(--surface-border);
  box-shadow: var(--card-shadow);
}

.demo-tile figcaption {
  margin-top: 0.5rem;
  text-align: center;
  font-size: 0.92rem;
  color: var(--text-secondary);
}

/* ---- downstream ---- */
.app-block {
  max-width: 1000px;
  margin: 0 auto;
}

.app-text {
  max-width: 820px;
  margin: 0 auto 1rem;
  color: var(--text-secondary);
  line-height: 1.6;
  text-align: justify;
}

.bars-figure {
  max-width: 760px;
  margin-left: auto;
  margin-right: auto;
}

.demo-tabs .button {
  font-weight: 600;
}

@media screen and (max-width: 900px) {
  .table-row {
    grid-template-columns: 1fr;
  }
}

@media screen and (max-width: 768px) {
  .demo-grid {
    grid-template-columns: 1fr;
  }
  .app-text {
    text-align: left;
  }
}

/* ---- hero TL;DR + key numbers ---- */
.author-nolink {
  color: var(--text-primary);
}

.tldr {
  max-width: 760px;
  margin: 1.2rem auto 1rem;
  font-size: 1.12rem;
  line-height: 1.55;
  color: var(--text-primary);
}

.keynums {
  display: flex;
  flex-direction: column;
  gap: 0.75rem;
  width: min(1080px, calc(100vw - 32px));
  position: relative;
  left: 50%;
  transform: translateX(-50%);
}

.kn-grid {
  display: grid;
  gap: 0.75rem;
}

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

.kn-grid-2 {
  grid-template-columns: repeat(2, minmax(0, 1fr));
  width: min(100%, 760px);
  margin: 0 auto;
}

.kn-head {
  font-size: 0.72rem;
  font-weight: 600;
  letter-spacing: 0.06em;
  text-transform: uppercase;
  color: #7a879a;
  margin-bottom: 0.35rem;
}

.kn-row {
  display: flex;
  align-items: stretch;
}

.kn-pair {
  display: flex;
  flex-direction: column;
  gap: 0.15rem;
  flex: 1 1 0;
}

.kn-pair + .kn-pair {
  border-left: 1px solid var(--surface-border);
}

.section-subtitle[id] {
  scroll-margin-top: 4.5rem;
}

.keynum {
  display: flex;
  flex-direction: column;
  gap: 0.15rem;
  padding: 0.7rem 0.6rem;
  border-radius: 12px;
  background: var(--surface);
  border: 1px solid var(--surface-border);
  box-shadow: var(--card-shadow);
  color: var(--text-primary);
  transition: border-color 0.15s ease;
}

.keynum:hover,
.keynum:focus-visible {
  border-color: var(--accent);
  color: var(--text-primary);
}

.kn-val {
  font-family: 'Google Sans', sans-serif;
  font-size: 1.15rem;
  font-variant-numeric: tabular-nums;
  color: #5b6a80;
}

.kn-val b {
  color: var(--accent);
  font-weight: 700;
}

.kn-lbl {
  font-size: 0.82rem;
  color: var(--text-secondary);
}

.kn-note {
  margin-top: 0.6rem;
  font-size: 0.8rem;
  color: #7a879a;
}

.glossary {
  max-width: 1000px;
  margin: 0.25rem auto 0;
  font-size: 0.82rem;
  line-height: 1.55;
  color: var(--text-secondary);
}

/* ---- error colour bar (DexYCB) ---- */
.errbar-wrap {
  display: inline-flex;
  align-items: center;
  gap: 0.4rem;
}

.errbar {
  display: inline-block;
  width: 110px;
  height: 0.7rem;
  border-radius: 3px;
  background: linear-gradient(90deg, #dbe3ed 0%, #fac74d 50%, #d6263d 100%);
}

.errbar-lbl {
  font-size: 0.8rem;
  font-variant-numeric: tabular-nums;
}

/* ---- downstream ---- */
.task-card {
  max-width: 880px;
  margin: 0 auto 1rem;
  padding: 0.9rem 1.1rem;
  border-radius: 12px;
  background: #f3f6fa;
  border: 1px solid var(--surface-border);
  color: var(--text-primary);
  line-height: 1.55;
}

.task-card p + p {
  margin-top: 0.4rem;
  color: var(--text-secondary);
}

.robot-video {
  border-radius: 12px;
  box-shadow: var(--card-shadow);
}

.bars-card {
  max-width: 620px;
  margin: 1.25rem auto 0;
  padding: 0.9rem 1.1rem;
  border-radius: 12px;
  background: var(--surface);
  border: 1px solid var(--surface-border);
  box-shadow: var(--card-shadow);
}

.bars-card.bars-2 {
  max-width: 880px;
  display: grid;
  grid-template-columns: 1fr 1fr;
  gap: 0.5rem 1.5rem;
}

.bars-card.bars-2 .bars-note {
  grid-column: 1 / -1;
}

.bars-title {
  font-weight: 600;
  color: #24344b;
  margin-bottom: 0.4rem;
}

.bar-row {
  display: grid;
  grid-template-columns: 7.2rem 1fr 3.6rem;
  align-items: center;
  gap: 0.5rem;
  margin: 0.22rem 0;
  font-size: 0.88rem;
  color: var(--text-secondary);
}

.bar-track {
  height: 0.85rem;
  background: #eef2f7;
  border-radius: 4px;
  overflow: hidden;
}

.bar-fill {
  display: block;
  height: 100%;
  border-radius: 4px;
  background: #b7c0cc;
}

.bar-row.gt .bar-fill { background: #d3d8df; }
.bar-row.gt { color: #8a95a5; }
.bar-row.base .bar-fill { background: #be5f82; }
.bar-row.other .bar-fill { background: #9aa6b6; }
.bar-row.ours .bar-fill { background: #376ebe; }
.bar-row.ours { color: var(--text-primary); font-weight: 600; }

.bar-val {
  text-align: right;
  font-variant-numeric: tabular-nums;
}

.bars-note {
  margin-top: 0.5rem;
  font-size: 0.8rem;
  color: #7a879a;
}

@media screen and (max-width: 768px) {
  .kn-grid-3,
  .kn-grid-2 {
    grid-template-columns: 1fr;
  }
  .bars-card.bars-2 {
    grid-template-columns: 1fr;
  }
  .table-wrap.overflows::after {
    content: "scroll \2192";
    display: block;
    text-align: right;
    font-size: 0.75rem;
    color: #8a95a5;
    margin-top: 0.3rem;
  }
}

.kn-val {
  white-space: nowrap;
}

.errbar-wrap {
  flex-wrap: wrap;
  justify-content: center;
}

.errbar-scale {
  display: inline-flex;
  align-items: center;
  gap: 0.4rem;
  white-space: nowrap;
}

.errbar {
  background: linear-gradient(90deg, #547dbf 0%, #f2c24d 50%, #d6263d 100%);
}

@media screen and (max-width: 768px) {
  .kn-val {
    font-size: 1rem;
  }
  .keynum {
    padding: 0.6rem 0.4rem;
  }
  .errbar-wrap {
    flex-direction: column;
    gap: 0.25rem;
  }
}


.cap-note {
  display: block;
  margin-top: 0.15rem;
  font-size: 0.78rem;
  color: #7a879a;
}

.kn-pair {
  padding: 0 0.45rem;
  min-width: 0;
}

@media screen and (min-width: 769px) and (max-width: 1100px) {
  .kn-grid-3 .kn-val {
    font-size: 0.95rem;
  }
  .kn-grid-3 .keynum {
    padding-left: 0.3rem;
    padding-right: 0.3rem;
  }
}

@media screen and (min-width: 769px) and (max-width: 960px) {
  .kn-grid-3 .kn-row {
    flex-direction: column;
    gap: 0.45rem;
  }
  .kn-grid-3 .kn-pair + .kn-pair {
    border-left: 0;
    border-top: 1px solid var(--surface-border);
    padding-top: 0.45rem;
  }
}