:root {
  color-scheme: light;
  --ink: #1e2b35;
  --muted: #526270;
  --blue: #175c86;
  --deep-blue: #183b54;
  --line: #dce4e9;
  --paper: #f5f8fa;
}

* { box-sizing: border-box; }
html { scroll-behavior: smooth; scroll-padding-top: 32px; }
body { margin: 0; background: #fff; color: var(--ink); font: 17px/1.7 -apple-system, BlinkMacSystemFont, "Segoe UI", Arial, sans-serif; -webkit-font-smoothing: antialiased; }
a { color: var(--blue); text-decoration-thickness: 1px; text-underline-offset: 4px; }
a:hover { color: #0e3d5a; }
a:focus-visible, video:focus-visible, [tabindex]:focus-visible { outline: 3px solid #508eb7; outline-offset: 5px; }
img { display: block; width: 100%; height: auto; }
figure, p { margin: 0; }
h1, h2, h3 { line-height: 1.25; letter-spacing: -.025em; }
h1, h2, h3, ul { margin-top: 0; }
h2 { margin-bottom: 18px; font-size: clamp(28px, 3.2vw, 38px); font-weight: 650; }
h3 { margin-bottom: 12px; font-size: 22px; font-weight: 650; }
sup { font-size: .65em; line-height: 0; vertical-align: super; }
.wrap { width: min(1120px, calc(100% - 64px)); margin-inline: auto; }
.reading-width { width: min(850px, calc(100% - 64px)); margin-inline: auto; }
.skip-link { position: absolute; left: 16px; top: -100px; z-index: 2; padding: 10px 16px; color: #fff; background: var(--deep-blue); }
.skip-link:focus { top: 10px; }
.site-header { border-bottom: 1px solid var(--line); }
.nav { display: flex; align-items: center; justify-content: space-between; min-height: 72px; font-size: 15px; }
.nav a { text-decoration: none; }
.home-link { color: var(--ink); font-weight: 600; }
.home-link span { margin-right: 8px; }
.nav-links { display: flex; gap: 30px; }
.hero { padding-top: 66px; text-align: center; }
.eyebrow, .section-label { font-size: 12px; font-weight: 700; letter-spacing: .14em; text-transform: uppercase; color: var(--blue); }
.eyebrow { margin-bottom: 24px; }
.eyebrow span { padding: 0 12px; color: #a8b8c3; }
h1 { max-width: 1070px; margin: 0 auto 30px; font-size: clamp(29px, 3.65vw, 46px); font-weight: 650; line-height: 1.2; }
.project-name { color: var(--blue); font-weight: 750; }
.authors, .affiliations { list-style: none; display: flex; flex-wrap: wrap; justify-content: center; padding: 0; }
.authors { display: grid; grid-template-columns: repeat(4, max-content); max-width: 940px; margin: 0 auto 14px; gap: 3px 24px; font-size: 19px; }
.authors li { white-space: nowrap; }
.authors a { text-decoration: none; }
.authors sup { margin-left: 2px; color: var(--muted); }
.affiliations { margin: 0 auto 12px; gap: 0 24px; color: var(--muted); font-size: 14px; }
.author-notes { display: flex; flex-wrap: wrap; justify-content: center; gap: 4px 22px; color: var(--muted); font-size: 13px; }
.paper-actions { display: flex; flex-wrap: wrap; align-items: center; justify-content: center; gap: 20px; margin: 29px 0 32px; }
.button { display: inline-flex; align-items: center; gap: 10px; border: 1px solid var(--deep-blue); border-radius: 6px; padding: 10px 21px; color: #fff; background: var(--deep-blue); font-family: inherit; font-size: 15px; font-weight: 600; line-height: inherit; text-decoration: none; }
.button:not(:disabled):hover { background: #245778; color: #fff; }
.button:disabled { color: var(--muted); background: var(--paper); border-color: var(--line); cursor: not-allowed; }
.status { color: var(--muted); font-size: 14px; }
.hero-summary { max-width: 900px; margin: 0 auto 30px; padding: 22px 28px; border-left: 4px solid var(--blue); border-radius: 6px; background: var(--paper); color: var(--deep-blue); font-size: clamp(22px, 2.5vw, 28px); font-weight: 600; line-height: 1.5; text-wrap: balance; }
.hero-summary strong { display: block; margin-top: 4px; color: var(--blue); font-weight: 750; }
.overview { padding: 16px 0 46px; }
.figure-link { display: block; border-radius: 3px; }
.figure-link:hover { outline: 1px solid var(--line); outline-offset: 5px; }
figcaption { padding-top: 15px; color: var(--muted); font-size: 14px; line-height: 1.65; text-align: left; }
figcaption strong { color: var(--ink); font-weight: 600; }
.overview figcaption { max-width: 870px; margin-inline: auto; text-align: center; }
.abstract-section { padding: 62px 0 68px; background: var(--paper); border-block: 1px solid var(--line); }
.section-label { margin-bottom: 12px; }
.abstract-section h2 { font-size: 32px; }
.abstract-section p:last-child { line-height: 1.85; }
.section { padding-block: 76px; }
.section-heading { max-width: 880px; margin-bottom: 35px; }
.section-heading > p:last-child { max-width: 760px; color: var(--muted); }
.method-grid { display: grid; grid-template-columns: repeat(3, 1fr); gap: 32px; margin: 38px 0 54px; }
.method-grid article { border-top: 2px solid var(--line); padding-top: 18px; }
.step-number { display: block; margin-bottom: 13px; color: var(--blue); font-size: 13px; font-weight: 700; letter-spacing: .06em; }
.method-grid h3 { font-size: 21px; }
.method-grid p, .detail-copy > p:not(.section-label) { color: var(--muted); font-size: 16px; }
.detail-grid { display: grid; grid-template-columns: 1fr 1fr; align-items: start; gap: 56px; padding-top: 42px; border-top: 1px solid var(--line); }
.detail-copy h3 { font-size: 26px; }
.detail-copy figure { margin-top: 26px; }
.results-section { padding-block: 72px; background: var(--paper); border-block: 1px solid var(--line); }
.highlights { display: grid; grid-template-columns: repeat(3, 1fr); gap: 34px; padding-block: 27px 31px; margin-bottom: 49px; border-block: 1px solid #cad8e1; }
.highlights strong { display: block; margin-bottom: 6px; color: var(--blue); font-size: clamp(32px, 3.2vw, 43px); font-weight: 650; letter-spacing: -.04em; line-height: 1.4; }
.highlights strong span { font-size: .63em; letter-spacing: -.02em; }
.highlights p { max-width: 290px; color: var(--muted); font-size: 14px; line-height: 1.55; }
.subsection-title { margin-bottom: 24px; font-size: 25px; }
.results-figure { margin-bottom: 35px; }
.results-figure .figure-link { background: #fff; padding: 15px 12px; border: 1px solid var(--line); border-radius: 5px; }
.table-scroll { max-width: 100%; overflow-x: auto; }
table { width: 100%; border-collapse: collapse; font-size: 15px; line-height: 1.5; text-align: left; }
caption { padding-bottom: 15px; text-align: left; color: var(--ink); font-size: 14px; font-weight: 600; }
th, td { padding: 15px 18px; border-bottom: 1px solid var(--line); }
th:first-child, td:first-child { padding-left: 0; }
th:last-child, td:last-child { padding-right: 0; }
thead th { border-top: 1px solid #a9bac5; border-bottom: 1px solid #a9bac5; color: var(--muted); font-size: 13px; font-weight: 600; white-space: nowrap; }
tbody th { font-weight: 500; }
td { white-space: nowrap; font-variant-numeric: tabular-nums; }
.ours { color: var(--blue); font-weight: 700; }
.cell-note { display: block; color: var(--muted); font-size: 12px; }
.table-note { max-width: 930px; margin-top: 17px; color: var(--muted); font-size: 13px; line-height: 1.7; }
.video-grid { display: grid; gap: 28px; margin-bottom: 48px; }
.simulation-videos { grid-template-columns: repeat(3, minmax(0, 1fr)); }
.real-world-videos, .comparison-videos { grid-template-columns: repeat(2, minmax(0, 1fr)); }
.rollout-intro { max-width: 800px; margin: -8px 0 28px; color: var(--muted); }
.rollout-task-title { margin: 0 0 18px; font-size: 22px; font-weight: 650; line-height: 1.3; letter-spacing: -.025em; }
.video-card { min-width: 0; }
.video-card video { display: block; width: 100%; height: auto; aspect-ratio: 16 / 9; object-fit: contain; background: #10171c; border-radius: 6px; }
.video-card figcaption { padding-top: 12px; }
.video-card figcaption > strong { display: block; font-size: 18px; }
.video-card figcaption > p { margin-top: 5px; font-size: 15px; }
.real-world-videos figcaption > .rollout-failure { color: #a13f32; }
.real-world-videos figcaption > .ours { color: var(--blue); }
.force-comparison { padding-top: 34px; margin-bottom: 48px; border-top: 1px solid var(--line); }
.force-comparison h3 { font-size: 26px; }
.comparison-videos { max-width: 820px; margin: 0 auto; }
.comparison-videos video { aspect-ratio: 3 / 4; }
.comparison-videos figcaption { padding: 0 0 14px; }
.comparison-videos figcaption > strong { font-size: 22px; }
.comparison-videos figcaption > .ours { color: var(--blue); }
.site-footer { background: var(--deep-blue); color: #fff; }
.footer-inner { display: flex; justify-content: space-between; align-items: center; gap: 30px; padding-block: 34px; }
.footer-inner strong { font-size: 22px; letter-spacing: -.02em; }
.footer-inner p { margin-top: 4px; color: #c8d8e3; font-size: 13px; }
.footer-links { display: flex; gap: 28px; }
.footer-links a { color: #fff; font-size: 13px; text-decoration: none; }

@media (max-width: 850px) {
  .hero { padding-top: 46px; }
  .authors { max-width: 680px; gap: 4px 20px; font-size: 17px; }
  .method-grid { gap: 22px; }
  .method-grid h3 { font-size: 19px; }
  .detail-grid { gap: 30px; }
  .highlights { gap: 20px; }
  .highlights strong { font-size: 31px; }
  .video-grid { gap: 20px; }
  .simulation-videos .video-card figcaption > strong { font-size: 16px; }
}

@media (max-width: 640px) {
  body { font-size: 16px; }
  .wrap, .reading-width { width: calc(100% - 36px); }
  .nav { min-height: 60px; font-size: 13px; }
  .nav-links { gap: 18px; }
  .home-link span { margin-right: 4px; }
  .hero { padding-top: 34px; }
  .eyebrow { max-width: 310px; margin-inline: auto; margin-bottom: 20px; font-size: 10px; }
  .eyebrow span { padding-inline: 5px; }
  h1 { font-size: clamp(27px, 6.9vw, 36px); margin-bottom: 24px; }
  .authors { display: flex; gap: 5px 17px; font-size: 16px; }
  .affiliations { gap: 2px 16px; font-size: 12px; }
  .author-notes { gap: 3px 13px; font-size: 11px; }
  .paper-actions { margin-block: 24px; gap: 16px; }
  .button { font-size: 14px; padding: 9px 17px; }
  .status { font-size: 13px; }
  .hero-summary { padding: 18px 16px; font-size: 22px; margin-bottom: 22px; }
  .overview { padding-top: 8px; padding-bottom: 35px; }
  figcaption { font-size: 12px; }
  .abstract-section, .section, .results-section { padding-block: 46px; }
  .abstract-section p:last-child { line-height: 1.8; }
  h2 { font-size: 28px; }
  .section-heading { margin-bottom: 28px; }
  .method-grid { grid-template-columns: 1fr; gap: 27px; margin: 28px 0 35px; }
  .method-grid article { padding-top: 14px; }
  .step-number { margin-bottom: 9px; }
  .method-grid h3 { font-size: 22px; }
  .detail-grid { grid-template-columns: 1fr; gap: 32px; }
  .simulation-videos, .real-world-videos { grid-template-columns: 1fr; gap: 28px; }
  .video-grid { margin-bottom: 34px; }
  .simulation-videos .video-card figcaption > strong { font-size: 18px; }
  .video-card figcaption > p { font-size: 14px; }
  .force-comparison { padding-top: 28px; margin-bottom: 34px; }
  .force-comparison h3 { font-size: 24px; }
  .comparison-videos { gap: 14px; margin-bottom: 0; }
  .comparison-videos figcaption > strong { font-size: 19px; }
  .comparison-videos figcaption > p { font-size: 12px; }
  .detail-grid { padding-top: 30px; }
  .detail-copy h3 { font-size: 25px; }
  .highlights { grid-template-columns: 1fr; gap: 22px; margin-bottom: 34px; padding-block: 25px; }
  .highlights > div { display: grid; grid-template-columns: minmax(132px, .95fr) 1.3fr; align-items: center; gap: 18px; }
  .highlights strong { font-size: 31px; line-height: 1.2; margin: 0; }
  .highlights p { font-size: 12px; }
  .subsection-title { font-size: 23px; }
  .results-figure .figure-link { padding: 8px 5px; }
  table { font-size: 13px; min-width: 530px; }
  .real-world table { min-width: 475px; }
  th, td { padding: 12px 14px; }
  thead th { font-size: 12px; }
  .table-note { font-size: 12px; }
  .footer-inner { display: block; padding-block: 28px; }
  .footer-links { flex-wrap: wrap; gap: 12px 24px; margin-top: 20px; }
}

@media (prefers-reduced-motion: reduce) {
  html { scroll-behavior: auto; }
}