body {
  color: #363636;
  font-family: "Noto Sans", sans-serif;
}

.publication-header .hero-body {
  padding-top: 3rem;
  padding-bottom: 3rem;
}

.publication-title {
  font-size: 2.75rem !important;
  line-height: 1.12;
}

.publication-subtitle {
  display: inline-block;
  font-size: 0.72em;
  font-weight: 500;
  margin-top: 0.35rem;
}

.affiliation-row {
  margin-top: 0.65rem;
}

.publication-authors sup {
  color: #363636;
  font-size: 0.7em;
}

.is-coming-soon {
  cursor: default;
  opacity: 0.68;
}

.is-coming-soon::after {
  content: "soon";
  font-size: 0.65rem;
  margin-left: 0.45rem;
  opacity: 0.75;
}

.huggingface-mark {
  font-size: 1.05rem;
  line-height: 1;
}

.tldr-box {
  background: #f6f8fb;
  border-left: 4px solid #3273dc;
  border-radius: 6px;
  color: #363636;
  font-size: 1rem;
  line-height: 1.65;
  margin: 1.75rem auto 0;
  max-width: 920px;
  padding: 0.9rem 1.1rem;
  text-align: left;
}

.tldr-box p {
  margin: 0;
}

.narrow-result-image {
  display: block;
  height: auto;
  margin: 0 auto 1.75rem;
  max-width: 920px;
  width: 88%;
}

.findings-heading {
  margin-bottom: 2.25rem;
}

.findings-heading .title {
  margin-bottom: 0 !important;
}

.finding-section {
  margin-bottom: 4.5rem;
}

.finding-header {
  border-left: 4px solid #3273dc;
  margin-bottom: 1.75rem;
  padding: 0.1rem 0 0.15rem 1rem;
  text-align: left;
}

.finding-number {
  color: #3273dc;
  display: block;
  font-size: 0.82rem;
  font-weight: 700;
  letter-spacing: 0.08em;
  line-height: 1;
  margin-bottom: 0.6rem;
  text-transform: uppercase;
}

.finding-title {
  color: #363636;
  font-family: "Google Sans", sans-serif;
  font-size: 1.65rem;
  font-weight: 700;
  line-height: 1.3;
  margin: 0;
}

.finding-summary {
  line-height: 1.75;
  margin: 0;
}

.experiment-subsection {
  padding-bottom: 1.75rem;
  padding-top: 1.75rem;
}

.experiment-content {
  margin-left: auto;
  margin-right: auto;
  max-width: none;
  width: 100%;
}

.experiment-content > p {
  line-height: 1.7;
  margin-bottom: 1.5rem;
}

.experiment-content > .title,
.experiment-content > p,
.benchmark-overview-grid,
.overview-real-world-figure,
.simulation-results-card,
.real-world-results-card,
.quantitative-secondary-grid {
  margin-left: auto;
  margin-right: auto;
  max-width: 1120px;
  width: min(1120px, calc(100vw - 4rem));
}

.benchmark-overview-grid {
  display: grid;
  gap: 1rem;
  grid-template-columns: repeat(3, minmax(0, 1fr));
  margin-bottom: 2.25rem;
  margin-top: 1.75rem;
}

.benchmark-card {
  background: #fafbfc;
  border: 1px solid #e2e6ec;
  border-radius: 8px;
  padding: 1rem 1.05rem;
  text-align: left;
}

.benchmark-card.environment-card {
  border-top: 4px solid #4680ac;
}

.benchmark-card.data-card {
  border-top: 4px solid #559b86;
}

.benchmark-card.task-card {
  border-top: 4px solid #7c57ab;
}

.benchmark-card h4 {
  color: #303236;
  font-family: "Google Sans", sans-serif;
  font-size: 1.08rem;
  font-weight: 700;
  margin: 0 0 0.45rem;
}

.benchmark-card p {
  color: #4a4a4a;
  font-size: 0.91rem;
  line-height: 1.55;
  margin: 0;
}

.overview-real-world-figure,
.quantitative-figure-card,
.efficiency-figure-card {
  border: 1px solid #e2e6ec;
  border-radius: 8px;
  margin: 1.5rem auto 2.25rem;
  overflow: hidden;
}

.overview-real-world-figure {
  max-width: 1120px;
}

.overview-real-world-figure img,
.quantitative-figure-card img,
.efficiency-figure-card img {
  background: #fff;
  display: block;
  height: auto;
  width: 100%;
}

.overview-real-world-figure img {
  padding: 0.75rem;
}

.quantitative-figure-card img,
.efficiency-figure-card img {
  padding: 0.7rem;
}

.overview-real-world-figure figcaption,
.quantitative-figure-card figcaption,
.efficiency-figure-card figcaption {
  border-top: 1px solid #eeeeee;
  color: #4a4a4a;
  font-size: 0.95rem;
  line-height: 1.5;
  padding: 0.85rem 1rem;
  text-align: left;
}

.simulation-results-card {
  max-width: 1120px;
}

.simulation-table-scroll {
  overflow-x: auto;
  padding: 0.9rem;
}

.simulation-results-table {
  border-collapse: separate;
  border-spacing: 0;
  color: #303236;
  font-family: "Noto Sans", sans-serif;
  font-size: 0.92rem;
  line-height: 1.35;
  min-width: 980px;
  table-layout: fixed;
  width: 100%;
}

.simulation-results-table th,
.simulation-results-table td {
  border-bottom: 1px solid #e2e6ec;
  padding: 0.72rem 0.5rem;
  text-align: center !important;
  vertical-align: middle;
}

.simulation-results-table thead > tr:first-child th {
  font-family: "Google Sans", sans-serif;
  font-size: 1rem;
  font-weight: 700;
  padding-bottom: 0.75rem;
  padding-top: 0.75rem;
}

.simulation-results-table thead > tr:first-child th:first-child {
  background: #f6f7f9;
  border-radius: 6px 0 0 0;
  width: 9.5rem;
}

.simulation-results-table thead span,
.simulation-results-table thead small {
  display: block;
}

.simulation-results-table thead small {
  color: #555;
  font-size: 0.78rem;
  font-weight: 500;
  margin-top: 0.15rem;
}

.simulation-results-table tbody th {
  background: #fafbfc;
  font-weight: 600;
  text-align: center !important;
}

.simulation-results-table tbody tr:last-child th,
.simulation-results-table tbody tr:last-child td {
  border-bottom: 0;
}

.simulation-results-table .group-start {
  border-left: 2px solid #d8dde4;
}

.simulation-results-table .environment-group,
.simulation-results-table .environment-subhead {
  background: #eaf2f7;
}

.simulation-results-table .data-group,
.simulation-results-table .data-subhead {
  background: #eaf3f0;
}

.simulation-results-table .task-group,
.simulation-results-table .task-subhead {
  background: #f0ebf5;
}

.simulation-results-table .environment-group {
  color: #356f99;
}

.simulation-results-table .data-group {
  color: #467f6e;
}

.simulation-results-table .task-group {
  color: #684895;
}

.simulation-results-table .simple-wam-row {
  background: #fbfafc;
}

.simulation-results-table .simple-wam-row th,
.simulation-results-table .best-result {
  font-weight: 700;
}

.real-world-results-card {
  max-width: 1120px;
}

.efficiency-figure-card {
  max-width: 450px;
}

.quantitative-secondary-grid {
  align-items: stretch;
  display: grid;
  gap: 1.25rem;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  margin-bottom: 2.25rem;
  margin-top: 1.5rem;
}

.quantitative-secondary-grid .quantitative-figure-card,
.quantitative-secondary-grid .efficiency-figure-card {
  display: flex;
  flex-direction: column;
  margin: 0;
  max-width: none;
  width: 100%;
}

.quantitative-secondary-media {
  align-items: center;
  display: flex;
  flex: 1 1 auto;
  justify-content: center;
  min-height: 0;
}

.quantitative-secondary-media img {
  flex: 0 0 auto;
}

.quantitative-secondary-grid figcaption {
  flex: 0 0 auto;
}

.video-placeholder {
  align-items: center;
  aspect-ratio: 16 / 9;
  background: linear-gradient(135deg, rgba(245, 245, 245, 0.96), rgba(235, 238, 242, 0.96));
  border: 1px dashed #b7bec8;
  border-radius: 6px;
  color: #7a7a7a;
  display: flex;
  font-family: "Google Sans", sans-serif;
  font-size: 0.85rem;
  justify-content: center;
  padding: 1rem;
  text-align: center;
  width: 100%;
}

.video-placeholder.square {
  aspect-ratio: 1 / 1;
}

.demo-video-panel {
  padding-top: 0.45rem;
}

.demo-subsection,
.comparison-group {
  margin: 1.25rem 0 2.2rem;
}

.demo-subsection-title {
  border-left: 3px solid #3273dc;
  color: #363636;
  font-family: "Google Sans", sans-serif;
  font-size: 1.15rem !important;
  font-weight: 600;
  line-height: 1.3 !important;
  margin: 0 0 0.85rem !important;
  padding-left: 0.65rem;
}

.demo-grid {
  display: grid;
  gap: 1.15rem;
  grid-template-columns: repeat(3, minmax(0, 1fr));
}

.demo-grid.paired {
  grid-template-columns: repeat(2, minmax(0, 1fr));
}

.demo-card {
  margin: 0;
  min-width: 0;
}

.video-panel .demo-card video {
  aspect-ratio: 2 / 1;
  background: #111;
  border-radius: 6px;
  display: block;
  height: auto;
  object-fit: contain;
  width: 100%;
}

.video-panel .demo-card.robotwin video {
  aspect-ratio: 4 / 3;
}

.demo-card figcaption {
  color: #363636;
  font-size: 0.92rem;
  line-height: 1.35;
  margin-top: 0.5rem;
  text-align: center;
}

.demo-card .language-prompt-caption {
  background: #f7f8fa;
  border: 1px solid #e1e5eb;
  border-radius: 6px;
  font-size: 0.86rem;
  line-height: 1.45;
  padding: 0.65rem 0.75rem;
  text-align: left;
}

.language-prompt-caption b {
  color: #276ef1;
  display: block;
  font-family: "Google Sans", sans-serif;
  font-size: 0.76rem;
  letter-spacing: 0.04em;
  margin-bottom: 0.25rem;
  text-transform: uppercase;
}

.real-world-demo {
  margin: 0.9rem auto 2.25rem;
  max-width: 1040px;
}

.video-panel .real-world-demo video {
  aspect-ratio: 240 / 67;
}

.video-panel .data-world-demo video {
  aspect-ratio: 16 / 9;
}

.real-world-label-grid {
  display: grid;
  gap: 0.75rem;
  margin-top: 0.7rem;
}

.real-world-label-grid.two-up {
  grid-template-columns: repeat(2, minmax(0, 1fr));
}

.real-world-label-grid > span {
  background: #f7f8fa;
  border: 1px solid #e1e5eb;
  border-radius: 6px;
  color: #363636;
  line-height: 1.45;
  padding: 0.7rem 0.85rem;
  text-align: left;
}

.real-world-label-grid b,
.real-world-task-name b {
  color: #276ef1;
  display: block;
  font-family: "Google Sans", sans-serif;
  font-size: 0.78rem;
  letter-spacing: 0.04em;
  margin-bottom: 0.25rem;
  text-transform: uppercase;
}

.data-video-matrix {
  display: grid;
  gap: 0.55rem 0.7rem;
  grid-template-columns: 3.25rem minmax(0, 1fr);
  grid-template-rows: auto auto;
}

.data-column-headers {
  display: grid;
  gap: 0.55rem;
  grid-column: 2;
  grid-row: 1;
  grid-template-columns: repeat(2, minmax(0, 1fr));
}

.data-column-headers > span {
  background: #eef4ff;
  border: 1px solid #cfe0ff;
  border-radius: 6px;
  color: #303236;
  font-family: "Google Sans", sans-serif;
  font-size: 0.92rem;
  font-weight: 600;
  padding: 0.55rem 0.65rem;
  text-align: center;
}

.data-column-headers b {
  color: #276ef1;
  font-size: 0.72rem;
  letter-spacing: 0.05em;
  margin-right: 0.4rem;
  text-transform: uppercase;
}

.data-row-headers {
  display: grid;
  gap: 0.45rem;
  grid-column: 1;
  grid-row: 2;
  grid-template-rows: repeat(2, minmax(0, 1fr));
}

.data-row-headers > span {
  align-items: center;
  background: #f7f8fa;
  border: 1px solid #e1e5eb;
  border-radius: 6px;
  color: #363636;
  display: flex;
  font-family: "Google Sans", sans-serif;
  font-size: 1rem;
  font-weight: 600;
  justify-content: center;
  letter-spacing: 0.01em;
  text-align: center;
  transform: rotate(180deg);
  writing-mode: vertical-rl;
}

.data-video-stage {
  grid-column: 2;
  grid-row: 2;
  overflow: hidden;
  position: relative;
}

.video-panel .data-video-stage video {
  aspect-ratio: 16 / 9;
  border-radius: 6px;
}

.matrix-outcome {
  align-items: center;
  backdrop-filter: blur(5px);
  border: 1px solid currentColor;
  border-radius: 999px;
  display: inline-flex;
  font-size: 0.78rem;
  font-weight: 700;
  gap: 0.28rem;
  padding: 0.28rem 0.55rem 0.28rem 0.38rem;
  position: absolute;
  transform: translate(-100%, 0);
  z-index: 2;
}

.matrix-outcome b {
  align-items: center;
  border-radius: 50%;
  display: inline-flex;
  font-size: 1rem;
  height: 1.35rem;
  justify-content: center;
  line-height: 1;
  width: 1.35rem;
}

.matrix-outcome.success {
  background: rgba(229, 245, 239, 0.92);
  color: #087a58;
}

.matrix-outcome.failure {
  background: rgba(251, 238, 238, 0.92);
  color: #bd4035;
}

.matrix-outcome.top-left {
  left: calc(50% - 0.55rem);
  top: 0.55rem;
}

.matrix-outcome.top-right {
  left: calc(100% - 0.55rem);
  top: 0.55rem;
}

.matrix-outcome.bottom-left {
  left: calc(50% - 0.55rem);
  top: calc(50% + 0.55rem);
}

.matrix-outcome.bottom-right {
  left: calc(100% - 0.55rem);
  top: calc(50% + 0.55rem);
}

.result-video-wrap {
  position: relative;
}

.matrix-outcome.demo-outcome {
  left: auto;
  right: 0.55rem;
  top: 0.55rem;
  transform: none;
}

.task-generalization-caption {
  margin-top: 0.75rem !important;
}

.real-world-task-name {
  background: #eef4ff;
  border: 1px solid #cfe0ff;
  border-radius: 6px;
  color: #303236;
  margin: 0 0 0.75rem;
  padding: 0.7rem 0.85rem;
  text-align: left;
}

.real-world-task-name b {
  margin-bottom: 0.2rem;
}

.prompt-grid > span {
  font-size: 0.88rem;
}

.prompt-grid i {
  font-style: normal;
  font-weight: 700;
}

.word-red {
  color: #c53f3f;
}

.word-yellow {
  color: #c99000;
}

.word-green {
  color: #16965b;
}

.bibtex-heading {
  align-items: center;
  display: flex;
  justify-content: space-between;
}

.copy-bibtex {
  margin-bottom: 1.5rem;
}

.page-toc {
  background: rgba(255, 255, 255, 0.96);
  font-family: "Google Sans", sans-serif;
  z-index: 15;
}

.page-toc a {
  color: #4a4a4a;
  display: block;
  font-size: 0.95rem;
  line-height: 1.25;
  padding: 0.45rem 0.75rem;
  white-space: nowrap;
}

.page-toc a:hover,
.page-toc a.is-current {
  color: #276ef1;
}

.page-toc a.toc-sub {
  color: #6a6a6a;
  font-size: 0.86rem;
}

.section-anchor {
  scroll-margin-top: 5rem;
}

#environment-videos {
  padding-top: 0;
}

#environment-videos .video-section-heading {
  margin-top: 0.75rem !important;
}

.video-section:last-of-type {
  padding-bottom: 3rem;
}

@media screen and (min-width: 900px) {
  body {
    padding-left: 11.5rem;
  }

  .page-toc {
    border-left: 2px solid #f0f0f0;
    left: 1.25rem;
    position: fixed;
    top: 4rem;
    width: 10.25rem;
  }

  .page-toc a {
    border-left: 2px solid transparent;
    font-size: 0.88rem;
    margin-left: -2px;
    padding: 0.38rem 0.6rem;
  }

  .page-toc a:hover,
  .page-toc a.is-current {
    border-left-color: #276ef1;
  }

  .page-toc a.toc-sub {
    font-size: 0.8rem;
    padding-left: 1.2rem;
  }
}

@media screen and (min-width: 1280px) {
  body {
    padding-left: 13rem;
  }

  .page-toc {
    left: 2rem;
    top: 5rem;
    width: 11rem;
  }
}

@media screen and (max-width: 899px) {
  body {
    padding-left: 0;
  }

  .page-toc {
    border-bottom: 1px solid #f0f0f0;
    box-shadow: 0 4px 14px rgba(10, 10, 10, 0.04);
    display: flex;
    gap: 0.25rem;
    overflow-x: auto;
    padding: 0.25rem 0.65rem;
    position: sticky;
    top: 0;
  }

  .page-toc a {
    border-radius: 4px;
    font-size: 0.86rem;
    padding: 0.35rem 0.55rem;
  }

  .page-toc a:hover,
  .page-toc a.is-current {
    background: #f5f5f5;
  }

  .page-toc a.toc-sub {
    background: #fafafa;
  }
}

@media screen and (min-width: 1280px) {
  .experiment-content > .title,
  .experiment-content > p,
  .benchmark-overview-grid,
  .overview-real-world-figure,
  .simulation-results-card,
  .real-world-results-card,
  .quantitative-secondary-grid {
    width: min(1120px, calc(100vw - 17rem));
  }
}

@media screen and (min-width: 900px) and (max-width: 1279px) {
  .experiment-content > .title,
  .experiment-content > p,
  .benchmark-overview-grid,
  .overview-real-world-figure,
  .simulation-results-card,
  .real-world-results-card,
  .quantitative-secondary-grid {
    width: min(1120px, calc(100vw - 15.5rem));
  }
}

@media screen and (max-width: 768px) {
  .publication-header .hero-body {
    padding-top: 2rem;
  }

  .publication-title {
    font-size: 2rem !important;
  }

  .findings-heading {
    margin-bottom: 1.5rem;
  }

  .finding-section {
    margin-bottom: 3.5rem;
  }

  .finding-header {
    margin-bottom: 1.35rem;
  }

  .finding-title {
    font-size: 1.35rem;
  }

  .finding-summary {
    text-align: left !important;
  }

  .experiment-content,
  .narrow-result-image {
    width: calc(100vw - 2rem);
  }

  .experiment-content > .title,
  .experiment-content > p,
  .benchmark-overview-grid,
  .overview-real-world-figure,
  .simulation-results-card,
  .real-world-results-card,
  .quantitative-secondary-grid {
    width: calc(100vw - 2rem);
  }

  .benchmark-overview-grid {
    grid-template-columns: 1fr;
  }

  .quantitative-secondary-grid {
    grid-template-columns: 1fr;
  }

  .simulation-results-card {
    overflow-x: auto;
  }

  .simulation-table-card {
    overflow: hidden;
  }

  .real-world-results-card {
    overflow-x: auto;
  }

  .simulation-results-card img,
  .real-world-results-card img {
    min-width: 860px;
  }

  .video-panel .column.is-one-quarter {
    flex: none;
    width: 50%;
  }

  .demo-grid,
  .demo-grid.paired {
    grid-template-columns: 1fr;
  }

  .demo-subsection,
  .comparison-group {
    margin-bottom: 1.75rem;
  }

  .prompt-grid.two-up {
    grid-template-columns: 1fr;
  }

  .data-video-matrix {
    gap: 0.35rem;
    grid-template-columns: 2.35rem minmax(0, 1fr);
  }

  .data-column-headers {
    gap: 0.35rem;
  }

  .data-column-headers > span {
    font-size: 0.72rem;
    line-height: 1.25;
    padding: 0.4rem 0.25rem;
  }

  .data-column-headers b {
    display: block;
    font-size: 0.62rem;
    margin: 0 0 0.12rem;
  }

  .data-row-headers > span {
    font-size: 0.76rem;
  }

  .matrix-outcome {
    font-size: 0.65rem;
    gap: 0.18rem;
    padding: 0.18rem 0.35rem 0.18rem 0.25rem;
  }

  .matrix-outcome b {
    font-size: 0.82rem;
    height: 1rem;
    width: 1rem;
  }

  .matrix-outcome.top-left {
    left: calc(50% - 0.25rem);
    top: 0.25rem;
  }

  .matrix-outcome.top-right {
    left: calc(100% - 0.25rem);
    top: 0.25rem;
  }

  .matrix-outcome.bottom-left {
    left: calc(50% - 0.25rem);
    top: calc(50% + 0.25rem);
  }

  .matrix-outcome.bottom-right {
    left: calc(100% - 0.25rem);
    top: calc(50% + 0.25rem);
  }

  .matrix-outcome.demo-outcome {
    left: auto;
    right: 0.35rem;
    top: 0.35rem;
  }
}

@media screen and (max-width: 480px) {
  .video-panel .column.is-one-quarter {
    width: 100%;
  }
}