:root {
  color-scheme: light;
  --ink: #1f2933;
  --muted: #5d6875;
  --line: #d9dee7;
  --panel: #f7f8fb;
  --accent: #276ef1;
  --accent-dark: #174ea6;
  --max: 1060px;
}

* {
  box-sizing: border-box;
}

body {
  margin: 0;
  color: var(--ink);
  background: #ffffff;
  font-family: ui-sans-serif, system-ui, -apple-system, BlinkMacSystemFont, "Segoe UI", sans-serif;
  line-height: 1.58;
}

a {
  color: var(--accent-dark);
  text-decoration: none;
}

a:hover {
  text-decoration: underline;
}

.topbar {
  position: sticky;
  top: 0;
  z-index: 10;
  border-bottom: 1px solid var(--line);
  background: rgb(255 255 255 / 92%);
  backdrop-filter: blur(12px);
}

.topbar-inner {
  display: flex;
  align-items: center;
  justify-content: space-between;
  width: min(var(--max), calc(100% - 32px));
  min-height: 58px;
  margin: 0 auto;
  gap: 18px;
}

.brand {
  color: var(--ink);
  font-weight: 800;
}

.topbar-action {
  display: inline-flex;
  align-items: center;
  justify-content: center;
  min-height: 36px;
  padding: 0 14px;
  border: 1px solid var(--line);
  border-radius: 999px;
  color: var(--ink);
  background: #fff;
  font-weight: 650;
  box-shadow: 0 1px 2px rgb(18 32 54 / 8%);
}

.topbar-action:hover {
  border-color: #9eb5dc;
  color: var(--accent-dark);
  text-decoration: none;
}

main {
  width: min(var(--max), calc(100% - 32px));
  margin: 0 auto;
}

.hero {
  padding: 72px 0 42px;
  text-align: center;
}

.eyebrow {
  margin: 0 0 10px;
  color: var(--accent-dark);
  font-size: 0.82rem;
  font-weight: 700;
  letter-spacing: 0.08em;
  text-transform: uppercase;
}

h1 {
  margin: 0;
  font-size: clamp(2.4rem, 6vw, 4.8rem);
  line-height: 1.02;
  font-weight: 800;
  letter-spacing: 0;
}

.subtitle {
  max-width: 780px;
  margin: 18px auto 0;
  color: var(--muted);
  text-align: left;
  font-size: clamp(1.05rem, 2.2vw, 1.32rem);
}

.authors {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 10px 22px;
  margin-top: 22px;
  color: #394553;
  font-size: 0.98rem;
}

.affiliation {
  margin: 8px 0 0;
  color: var(--muted);
  font-size: 0.96rem;
}

.actions {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 12px;
  margin-top: 28px;
}

.actions a {
  display: inline-flex;
  align-items: center;
  justify-content: center;
  min-height: 42px;
  padding: 0 18px;
  border: 1px solid var(--line);
  border-radius: 999px;
  color: var(--ink);
  background: #fff;
  font-weight: 650;
  box-shadow: 0 1px 2px rgb(18 32 54 / 8%);
}

.actions a:hover {
  border-color: #9eb5dc;
  color: var(--accent-dark);
  text-decoration: none;
}

.section {
  padding: 46px 0;
  border-top: 1px solid var(--line);
}

.section.compact {
  padding: 32px 0;
}

.section h2 {
  margin: 0 0 16px;
  font-size: clamp(1.65rem, 3vw, 2.35rem);
  line-height: 1.12;
}

.section > p {
  max-width: 820px;
  margin: 0 auto;
  color: var(--muted);
  text-align: left;
  font-size: 1.05rem;
}

.section > h2 {
  text-align: center;
}

.lead {
  max-width: 820px;
  margin: 0 auto 24px;
  color: var(--muted);
  text-align: left;
  font-size: 1.05rem;
}

.math-card {
  margin: 24px auto 0;
  padding: 22px;
  overflow-x: auto;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: var(--panel);
}

.method-grid {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 22px;
  margin-top: 24px;
}

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

.method-grid.stacked-methods {
  grid-template-columns: 1fr;
  max-width: 900px;
  margin-inline: auto;
}

.method-grid.stacked-methods .diagram-card {
  grid-template-columns: minmax(240px, 0.72fr) minmax(0, 1fr);
  align-items: center;
}

.method-grid.stacked-methods .diagram-card h3,
.method-grid.stacked-methods .diagram-card .math-card {
  grid-column: 1 / -1;
}

.method-card {
  padding: 22px;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: #fff;
  box-shadow: 0 8px 22px rgb(18 32 54 / 6%);
}

.method-card h3 {
  margin: 0 0 10px;
  font-size: 1.08rem;
}

.method-card p {
  margin: 0;
  color: var(--muted);
  font-size: 0.98rem;
}

.method-card .paper-link {
  margin-top: 12px;
  font-weight: 700;
}

.citation-list {
  display: grid;
  gap: 12px;
  margin: 16px 0 0;
  padding-left: 20px;
  color: var(--muted);
  font-size: 0.94rem;
}

.citation-list li {
  padding-left: 4px;
}

.citation-list a {
  font-weight: 700;
}

.method-card .math-card {
  margin-top: 14px;
  padding: 16px;
  box-shadow: none;
}

.publication-list {
  display: grid;
  gap: 18px;
  max-width: 900px;
  margin: 24px auto 0;
}

.publication-list .method-card {
  box-shadow: 0 8px 22px rgb(18 32 54 / 5%);
}

.run-card {
  max-width: 900px;
  margin: 24px auto 0;
}

.run-card p {
  margin: 0 0 12px;
  color: var(--muted);
  text-align: left;
}

.construction-box {
  max-width: 900px;
  margin: 24px auto 0;
  padding: 24px;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: #fff;
  box-shadow: 0 10px 28px rgb(18 32 54 / 8%);
}

.construction-box h3 {
  margin: 0 0 12px;
  font-size: 1.2rem;
}

.construction-box p {
  margin: 16px 0 0;
  color: var(--muted);
}

.construction-box .math-card {
  margin-top: 14px;
}

.video-grid {
  display: grid;
  gap: 22px;
}

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

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

.video-grid.crop-videos {
  margin-top: 24px;
}

.video-grid.crop-videos .video-card h3 {
  margin: 16px 18px 12px;
}

.video-grid.crop-videos .video-card video {
  aspect-ratio: 4 / 3;
  object-fit: cover;
}

.video-grid.multi-obstacle-videos .video-card video {
  aspect-ratio: 1 / 1;
  object-fit: contain;
}

.video-stack {
  display: grid;
  gap: 16px;
  max-width: 900px;
  margin: 24px auto 0;
}

.video-stack h3 {
  margin: 12px 0 0;
  font-size: 1.08rem;
}

.social-results {
  max-width: 1100px;
  gap: 28px;
}

.centered-heading {
  text-align: center;
}

.video-card,
.gallery article {
  border: 1px solid var(--line);
  border-radius: 8px;
  overflow: hidden;
  background: #fff;
  box-shadow: 0 10px 28px rgb(18 32 54 / 8%);
}

video {
  display: block;
  width: 100%;
  background: #fff;
}

.video-card video,
.gallery video {
  aspect-ratio: 1 / 1;
  object-fit: contain;
}

.video-card.wide video {
  aspect-ratio: 16 / 9;
}

.video-card.square-video {
  max-width: 640px;
  margin-inline: auto;
}

.video-card.home-compact-video {
  max-width: 520px;
}

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

.video-card.track-video video {
  aspect-ratio: 43 / 27;
}

.video-card h3,
.gallery h3 {
  margin: 16px 18px 4px;
  font-size: 1.05rem;
}

.video-card p {
  margin: 0 18px 18px;
  color: var(--muted);
  font-size: 0.95rem;
}

.split {
  display: grid;
  grid-template-columns: minmax(0, 0.8fr) minmax(0, 1.2fr);
  gap: 28px;
  align-items: center;
}

.split h2,
.split p {
  text-align: left;
}

.split p {
  margin: 0;
  color: var(--muted);
  font-size: 1.03rem;
}

.controller-section {
  align-items: stretch;
}

.controller-copy {
  display: grid;
  align-content: center;
}

.controller-copy .math-card {
  width: 100%;
  margin-top: 18px;
}

.full-controller-section .controller-copy {
  max-width: 900px;
  margin: 0 auto;
}

.full-controller-section .controller-copy h2 {
  text-align: center;
}

.full-controller-section .controller-copy > p {
  color: var(--muted);
  text-align: left;
}

.controller-copy p {
  color: var(--muted);
  text-align: left;
}

.controller-copy h2 {
  text-align: center;
}

.controller-video,
.mpc-video {
  width: 100%;
  margin-top: 24px;
}

.section-result {
  grid-column: 1 / -1;
  width: min(900px, 100%);
  margin: 28px auto 0;
}

.feedback-result-copy,
.feedback-result-video {
  margin-top: 28px;
}

.split-video {
  align-self: center;
  width: 100%;
}

.split-video .video-crop {
  aspect-ratio: 4 / 3;
  overflow: hidden;
  background: #fff;
}

.split-video .video-crop video {
  width: 100%;
  height: 100%;
  object-fit: cover;
}

.video-placeholder {
  display: grid;
  place-items: center;
  min-height: 340px;
  padding: 28px;
  border: 1px dashed #aeb8c8;
  border-radius: 8px;
  background:
    linear-gradient(135deg, rgb(39 110 241 / 8%), rgb(255 255 255 / 0) 42%),
    var(--panel);
  color: var(--muted);
  text-align: center;
}

.video-placeholder span {
  display: inline-flex;
  align-items: center;
  justify-content: center;
  min-height: 34px;
  padding: 0 12px;
  border: 1px solid var(--line);
  border-radius: 999px;
  background: #fff;
  color: var(--accent-dark);
  font-size: 0.84rem;
  font-weight: 800;
  text-transform: uppercase;
}

.video-placeholder p {
  max-width: 340px;
  margin: 12px auto 0;
  text-align: left;
}

pre {
  margin: 0;
  padding: 18px;
  overflow-x: auto;
  border: 1px solid #ced6e3;
  border-radius: 8px;
  background: #111827;
  color: #e5e7eb;
  font-size: 0.92rem;
  line-height: 1.5;
}

.gallery {
  display: grid;
  grid-template-columns: repeat(4, minmax(0, 1fr));
  gap: 18px;
}

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

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

.note {
  max-width: 760px;
  margin: 18px auto 0;
  color: var(--muted);
  text-align: left;
  font-size: 0.96rem;
}

.interactive-panel {
  display: grid;
  grid-template-columns: 260px minmax(0, 1fr);
  gap: 22px;
  align-items: stretch;
  margin-top: 24px;
}

.control-panel {
  display: grid;
  gap: 18px;
  align-content: start;
  padding: 18px;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: #fff;
  box-shadow: 0 8px 22px rgb(18 32 54 / 6%);
}

.control-panel label {
  display: grid;
  gap: 8px;
  color: #344051;
  font-size: 0.94rem;
  font-weight: 700;
}

.control-panel select,
.control-panel input[type="range"] {
  width: 100%;
}

.control-panel select {
  min-height: 38px;
  padding: 0 10px;
  border: 1px solid var(--line);
  border-radius: 6px;
  background: #fff;
  color: var(--ink);
  font: inherit;
}

.density-plot {
  min-height: 520px;
  border: 1px solid var(--line);
  border-radius: 8px;
  overflow: hidden;
  background: var(--panel);
  box-shadow: 0 10px 28px rgb(18 32 54 / 8%);
}

.maze-viewer {
  grid-template-columns: 300px minmax(0, 1fr);
}

.maze-feature-video video,
.maze-comparison-grid video,
.maze-gallery video {
  aspect-ratio: 16 / 9;
  object-fit: cover;
  object-position: center;
}

.maze-feature-video video {
  aspect-ratio: 16 / 8.5;
}

.result-viewer {
  grid-template-columns: 300px minmax(0, 1fr);
}

.feature-video video {
  aspect-ratio: 16 / 9;
  object-fit: contain;
}

.multi-agent-page .feature-video video,
.multi-agent-page .maze-gallery video {
  aspect-ratio: 1 / 1;
  object-fit: contain;
}

.multi-agent-page .maze-gallery .video-grid.three {
  grid-template-columns: repeat(2, minmax(0, 1fr));
}

.dynamic-obstacles-page .feature-video video,
.dynamic-obstacles-page .maze-gallery video {
  aspect-ratio: 614 / 576;
  object-fit: contain;
}

.dynamic-obstacles-page .maze-gallery .video-grid.three {
  grid-template-columns: repeat(2, minmax(0, 1fr));
}

.dashboard-grid {
  margin-top: 24px;
}

.stacked-dashboard {
  grid-template-columns: 1fr;
  max-width: 980px;
  margin-inline: auto;
}

.multi-agent-page .dashboard-grid video {
  aspect-ratio: 1440 / 888;
  object-fit: contain;
}

.diagram-card {
  display: grid;
  gap: 14px;
}

.mini-diagram {
  width: 100%;
  min-height: 180px;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: #fbfcff;
}

.mini-diagram text {
  fill: #344051;
  font: 700 11px ui-sans-serif, system-ui, -apple-system, BlinkMacSystemFont, "Segoe UI", sans-serif;
}

.checkbox-label {
  display: flex;
  align-items: center;
  gap: 10px;
}

.checkbox-label input {
  width: 16px;
  height: 16px;
  accent-color: var(--accent);
}

.run-stats {
  display: grid;
  gap: 12px;
  padding-top: 6px;
  border-top: 1px solid var(--line);
}

.run-stats h3 {
  margin: 0;
  font-size: 1.02rem;
}

.run-stats p {
  margin: 0;
  color: var(--muted);
  font-size: 0.92rem;
}

.run-stats dl {
  display: grid;
  gap: 8px;
  margin: 0;
}

.run-stats dl div {
  display: flex;
  align-items: center;
  justify-content: space-between;
  gap: 12px;
}

.run-stats dt {
  color: var(--muted);
  font-size: 0.86rem;
}

.run-stats dd {
  margin: 0;
  font-weight: 750;
}

.status-pill {
  display: inline-flex;
  align-items: center;
  min-height: 26px;
  padding: 0 10px;
  border-radius: 999px;
  background: #e8f5ee;
  color: #166534;
  font-size: 0.82rem;
  font-weight: 800;
  text-transform: uppercase;
}

.status-pill.collision {
  background: #fff1f2;
  color: #be123c;
}

.expandable-gallery {
  max-width: 100%;
  margin-top: 24px;
}

.expandable-gallery summary {
  display: flex;
  align-items: center;
  justify-content: space-between;
  gap: 16px;
  min-height: 58px;
  padding: 0 18px;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: #fff;
  box-shadow: 0 8px 22px rgb(18 32 54 / 6%);
  cursor: pointer;
  list-style: none;
  color: var(--ink);
  font-weight: 750;
}

.expandable-gallery summary::-webkit-details-marker {
  display: none;
}

.expandable-gallery summary::after {
  content: "+";
  display: inline-grid;
  place-items: center;
  flex: 0 0 auto;
  width: 30px;
  height: 30px;
  border: 1px solid var(--line);
  border-radius: 999px;
  color: var(--accent-dark);
  font-size: 1.2rem;
  line-height: 1;
}

.expandable-gallery[open] summary::after {
  content: "−";
}

.expandable-gallery summary:hover {
  border-color: #9eb5dc;
}

.expandable-gallery summary span {
  font-size: 1.03rem;
}

.expandable-gallery summary small {
  margin-left: auto;
  color: var(--muted);
  font-size: 0.9rem;
  font-weight: 650;
}

.maze-gallery {
  display: grid;
  gap: 36px;
  margin-top: 24px;
}

.maze-row {
  display: grid;
  gap: 14px;
}

.controller-band {
  gap: 22px;
  padding: 24px;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: #fbfcff;
  box-shadow: 0 10px 28px rgb(18 32 54 / 6%);
}

.controller-band-copy {
  max-width: 880px;
  margin: 0 auto;
}

.controller-band-copy h3 {
  margin: 0 0 10px;
  text-align: center;
  font-size: 1.34rem;
}

.controller-band-copy p {
  margin: 10px 0 0;
  color: var(--muted);
  text-align: left;
  font-size: 1rem;
}

.maze-row > h3 {
  margin: 0;
  text-align: center;
  font-size: 1.22rem;
}

.maze-row > .subgallery-title {
  margin-top: 22px;
  color: #344051;
  font-size: 1.02rem;
}

.paired-video-groups {
  display: grid;
  gap: 28px;
}

.paired-video-group {
  display: grid;
  gap: 12px;
}

.paired-video-group h4 {
  margin: 0;
  color: #344051;
  font-size: 1rem;
  text-align: center;
}

.scenario-note {
  max-width: 880px;
  margin: 4px auto 0;
  padding: 16px 18px;
  border-left: 4px solid #9eb5dc;
  background: #fff;
}

.scenario-note h4 {
  margin: 0 0 6px;
  color: #344051;
  font-size: 1.04rem;
}

.scenario-note p {
  margin: 0;
  color: var(--muted);
  font-size: 0.98rem;
}

.gallery h3 {
  margin-bottom: 16px;
}

footer {
  width: min(var(--max), calc(100% - 32px));
  margin: 0 auto;
  padding: 34px 0 54px;
  border-top: 1px solid var(--line);
  color: var(--muted);
  text-align: left;
}

@media (max-width: 900px) {
  .video-grid.three,
  .video-grid.two,
  .method-grid,
  .interactive-panel,
  .gallery,
  .split {
    grid-template-columns: 1fr;
  }

  .hero {
    padding-top: 46px;
  }

  .density-plot {
    min-height: 420px;
  }

  .method-grid.stacked-methods .diagram-card {
    grid-template-columns: 1fr;
  }
}