:root {
  --bg: #f6f1ea;
  --paper: #fffdf9;
  --paper-strong: #fffaf1;
  --text: #182126;
  --muted: #59656c;
  --line: rgba(24, 33, 38, 0.1);
  --shadow: 0 24px 60px rgba(35, 45, 57, 0.12);
  --accent: #0f766e;
  --accent-soft: #d9f5ef;
  --warm: #f1c88c;
  --warm-soft: #fff0d8;
  --deep: #101820;
  --rose: #9c6b62;
  --max: 1180px;
}

* {
  box-sizing: border-box;
}

html {
  scroll-behavior: smooth;
}

body {
  margin: 0;
  font-family: "Manrope", sans-serif;
  color: var(--text);
  background:
    radial-gradient(circle at top left, rgba(15, 118, 110, 0.18), transparent 30%),
    radial-gradient(circle at top right, rgba(241, 200, 140, 0.22), transparent 28%),
    linear-gradient(180deg, #f6f1ea 0%, #fbf8f2 45%, #f5efe8 100%);
}

img,
video {
  display: block;
  max-width: 100%;
}

a {
  color: inherit;
  text-decoration: none;
}

.page-shell {
  min-height: 100vh;
}

.topbar {
  position: sticky;
  top: 0;
  z-index: 20;
  display: flex;
  align-items: center;
  justify-content: space-between;
  max-width: var(--max);
  margin: 0 auto;
  padding: 0.72rem 1.1rem;
  backdrop-filter: blur(14px);
  background: rgba(246, 241, 234, 0.76);
  border-bottom: 1px solid rgba(24, 33, 38, 0.06);
}

.brand {
  font-family: "Fraunces", serif;
  font-size: 1.18rem;
  letter-spacing: 0.02em;
}

.brand span {
  color: var(--accent);
}

.topnav {
  display: flex;
  gap: 0.95rem;
  color: var(--muted);
  font-size: 0.88rem;
}

.topnav a:hover {
  color: var(--text);
}

.hero {
  position: relative;
  overflow: hidden;
  padding: 1.45rem 1rem 1.7rem;
}

.hero-backdrop {
  position: absolute;
  inset: 0;
  background:
    radial-gradient(circle at 20% 20%, rgba(15, 118, 110, 0.14), transparent 24%),
    radial-gradient(circle at 82% 24%, rgba(241, 200, 140, 0.22), transparent 24%),
    linear-gradient(135deg, rgba(255, 255, 255, 0.54), rgba(255, 255, 255, 0.1));
  pointer-events: none;
}

.hero-inner,
.section,
.footer {
  position: relative;
  max-width: var(--max);
  margin: 0 auto;
}

.hero-inner {
  text-align: center;
}

.hero-layout {
  display: flex;
  flex-direction: column;
  align-items: center;
  gap: 0.78rem;
}

.hero-copy {
  min-width: 0;
  max-width: 980px;
}

.hero-media {
  min-width: 0;
  width: 100%;
  max-width: 860px;
}

.eyebrow,
.section-kicker {
  margin: 0 0 0.8rem;
  text-transform: uppercase;
  letter-spacing: 0.14em;
  font-size: 0.78rem;
  font-weight: 800;
  color: var(--accent);
}

.hero-title,
.section-heading h2 {
  margin: 0;
  font-family: "Fraunces", serif;
  font-weight: 600;
  line-height: 1.06;
}

.hero-title {
  font-size: clamp(1.52rem, 2.6vw, 2.55rem);
  max-width: 950px;
  margin: 0 auto 1rem;
  line-height: 1.04;
}

.accent {
  color: var(--deep);
}

.hero-subtitle {
  max-width: 760px;
  margin: 0.72rem auto 0;
  color: var(--muted);
  font-size: 0.94rem;
  line-height: 1.45;
  font-weight: 600;
}

.authors,
.affiliation {
  color: var(--deep);
}

.authors {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 0.35rem 0.95rem;
  font-weight: 700;
  font-size: 1.16rem;
}

.authors a {
  color: var(--accent);
  text-decoration: none;
  transition:
    color 180ms ease,
    text-decoration-color 180ms ease;
}

.authors a:hover,
.authors a:focus-visible {
  color: var(--accent);
  text-decoration: underline;
  text-decoration-thickness: 1.5px;
  text-underline-offset: 0.14em;
  text-decoration-color: var(--accent);
}

.authors span:not(:last-child)::after {
  content: "·";
  margin-left: 0.95rem;
  color: rgba(16, 24, 32, 0.35);
}

.affiliation {
  margin: 0.35rem 0 0;
  color: var(--muted);
  text-align: center;
  font-size: 1.08rem;
}

.publication-venue {
  margin: 0.25rem 0 0;
  color: var(--accent);
  text-align: center;
  text-transform: uppercase;
  letter-spacing: 0.14em;
  font-size: 0.94rem;
  font-weight: 800;
}

.button-row {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 0.65rem;
  margin: 0.78rem 0 0;
}

.metric-chip,
.abstract-card,
.summary-card,
.teaser-card,
.feature-figure,
.info-card,
.visual-card,
.result-card,
.mini-insight,
.image-card,
.video-card,
.bibtex-card {
  background: rgba(255, 253, 249, 0.84);
  border: 1px solid var(--line);
  border-radius: 28px;
  box-shadow: var(--shadow);
}

.metric-chip {
  padding: 1.1rem 1rem;
}

.metric-value {
  display: block;
  font-size: 1.5rem;
  font-weight: 800;
}

.metric-label {
  display: block;
  margin-top: 0.28rem;
  color: var(--muted);
  font-size: 0.9rem;
}

.section {
  padding: 2rem 1.5rem 3.5rem;
}

.section-heading {
  text-align: center;
  margin-bottom: 1.6rem;
}

.section-heading h2 {
  font-size: clamp(1.85rem, 3vw, 3rem);
}

.video-card {
  padding: 0.78rem;
}

.hero-video-card {
  padding: 0.78rem;
  margin-top: 0.05rem;
}

.video-card video {
  border-radius: 18px;
  width: 100%;
  background: #0a0f14;
  height: auto;
  max-height: none;
  object-fit: contain;
  aspect-ratio: 16 / 9;
}

.video-caption,
.feature-figure figcaption,
.visual-card figcaption,
.gallery-heading p,
.result-lead,
.abstract-card p,
.info-card p,
.mini-insight p,
.footer p {
  color: var(--muted);
  line-height: 1.75;
}

.video-caption {
  margin: 0.55rem 0 0;
  text-align: center;
  font-size: 0.88rem;
  line-height: 1.45;
}

.hero-video-card .hero-summary {
  max-width: 52rem;
  margin: 0.85rem auto 0;
  font-size: clamp(1rem, 1.45vw, 1.22rem);
  line-height: 1.6;
  color: var(--ink);
  font-style: italic;
}

.button-pill,
.copy-button {
  border: 1px solid rgba(16, 24, 32, 0.14);
  border-radius: 999px;
  padding: 0.72rem 1.02rem;
  font-weight: 700;
  background: rgba(255, 255, 255, 0.75);
  display: inline-flex;
  align-items: center;
  justify-content: center;
  gap: 0.52rem;
  line-height: 1;
  transition:
    transform 180ms ease,
    background 180ms ease,
    color 180ms ease,
    box-shadow 180ms ease;
}

.button-pill:hover,
.copy-button:hover {
  transform: translateY(-2px);
  box-shadow: 0 12px 26px rgba(16, 24, 32, 0.08);
}

.button-pill.dark {
  background: var(--deep);
  color: #fffdf8;
  border-color: rgba(16, 24, 32, 0.55);
}

.button-icon {
  display: inline-flex;
  align-items: center;
  justify-content: center;
  width: 1rem;
  height: 1rem;
}

.button-icon svg {
  width: 1rem;
  height: 1rem;
  fill: none;
  stroke: currentColor;
  stroke-width: 1.8;
  stroke-linecap: round;
  stroke-linejoin: round;
}

.results-grid,
.method-grid,
.split-panel,
.abstract-grid,
.image-grid,
.ablation-band {
  display: grid;
  gap: 1.2rem;
}

.abstract-grid {
  grid-template-columns: 1.45fr 0.9fr;
  align-items: start;
}

.abstract-card,
.summary-card,
.teaser-card,
.info-card,
.result-card,
.mini-insight {
  padding: 1.6rem 1.5rem;
}

.summary-card h3,
.info-card h3,
.result-card h3,
.mini-insight h3,
.gallery-heading h3 {
  margin: 0 0 0.7rem;
  font-size: 1.2rem;
}

.summary-card ul {
  margin: 0;
  padding-left: 1.1rem;
  color: var(--muted);
  line-height: 1.75;
}

.teaser-card {
  margin: 0;
  padding: 0.9rem;
  align-self: start;
}

.teaser-card img {
  width: 100%;
  border-radius: 20px;
}

.teaser-card figcaption {
  margin-top: 0.8rem;
  color: var(--muted);
  line-height: 1.65;
}

.feature-figure {
  margin: 0 0 1.2rem;
  padding: 1rem;
}

.feature-figure img,
.visual-card img,
.image-card img {
  width: 100%;
  border-radius: 20px;
}

.feature-figure figcaption,
.visual-card figcaption {
  margin-top: 0.8rem;
}

.feature-figure figcaption {
  text-align: center;
}

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

.split-panel {
  grid-template-columns: repeat(2, minmax(0, 1fr));
  margin-top: 1.2rem;
}

.visual-card {
  padding: 1rem;
}

.lidar-card {
  max-width: 980px;
  margin: 1.25rem auto 0;
}

.results-stack {
  display: grid;
  gap: 1.4rem;
}

.results-analysis {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 1.2rem;
}

.results-analysis {
  align-items: start;
}

.results-column {
  display: grid;
  gap: 1.2rem;
  align-content: start;
}

.results-block {
  background: rgba(255, 253, 249, 0.84);
  border: 1px solid var(--line);
  border-radius: 28px;
  box-shadow: var(--shadow);
  padding: 1.4rem 1.25rem;
  display: flex;
  flex-direction: column;
}

.results-copy h3 {
  margin: 0 0 0.55rem;
  font-size: 1.2rem;
}

.results-copy p,
.table-caption {
  color: var(--muted);
  line-height: 1.65;
}

.results-copy p {
  margin: 0 0 0.85rem;
}

.table-card {
  background: rgba(255, 255, 255, 0.76);
  border: 1px solid rgba(24, 33, 38, 0.08);
  border-radius: 20px;
  padding: 0.9rem;
}

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

.table-image {
  width: 100%;
  height: auto;
  border-radius: 14px;
  display: block;
}

.table-image-3dmatch {
  max-width: 880px;
  margin: 0 auto;
}

.waymo-card .table-image {
  max-width: 620px;
  margin: 0 auto;
}

.table-scroll {
  overflow-x: auto;
}

.paper-table {
  width: 100%;
  border-collapse: collapse;
  min-width: 760px;
  font-size: 0.84rem;
}

.paper-table th,
.paper-table td {
  padding: 0.62rem 0.55rem;
  border-bottom: 1px solid rgba(24, 33, 38, 0.08);
  text-align: left;
  vertical-align: top;
}

.paper-table thead th {
  font-size: 0.78rem;
  text-transform: uppercase;
  letter-spacing: 0.06em;
  color: var(--muted);
  background: rgba(15, 118, 110, 0.05);
}

.paper-table tbody tr:hover {
  background: rgba(15, 118, 110, 0.04);
}

.paper-table .ours {
  background: rgba(15, 118, 110, 0.08);
  font-weight: 700;
}

.table-caption {
  margin: 0.8rem 0 0;
  font-size: 0.9rem;
}

.prompt-card {
  align-self: start;
  max-width: none;
  margin-left: 0;
  display: flex;
  flex-direction: column;
  padding: 1.4rem 1.25rem;
}

.prompt-card img {
  width: 100%;
  border-radius: 18px;
}

.prompt-card figcaption {
  margin-top: 0.8rem;
  color: var(--muted);
  line-height: 1.6;
}

.qualitative-carousel {
  background: rgba(255, 253, 249, 0.84);
  border: 1px solid var(--line);
  border-radius: 30px;
  box-shadow: var(--shadow);
  padding: 1.2rem;
}

.carousel-toolbar {
  display: flex;
  align-items: center;
  justify-content: space-between;
  gap: 0.9rem;
  margin-bottom: 1rem;
}

.carousel-dots {
  display: flex;
  justify-content: center;
  flex-wrap: wrap;
  gap: 0.55rem;
}

.carousel-arrow,
.carousel-dot {
  border: 1px solid rgba(16, 24, 32, 0.12);
  background: rgba(255, 255, 255, 0.84);
  color: var(--ink);
  transition:
    background 180ms ease,
    color 180ms ease,
    transform 180ms ease,
    box-shadow 180ms ease;
}

.carousel-arrow {
  width: 2.8rem;
  height: 2.8rem;
  border-radius: 999px;
  display: inline-flex;
  align-items: center;
  justify-content: center;
  font-size: 1.35rem;
  cursor: pointer;
}

.carousel-dot {
  border-radius: 999px;
  padding: 0.68rem 1rem;
  font-weight: 700;
  cursor: pointer;
}

.carousel-arrow:hover,
.carousel-dot:hover,
.carousel-arrow:focus-visible,
.carousel-dot:focus-visible,
.carousel-dot.is-active {
  background: #111a22;
  color: #f7f3ea;
  box-shadow: 0 14px 26px rgba(17, 26, 34, 0.16);
  transform: translateY(-1px);
}

.carousel-slides {
  position: relative;
}

.carousel-slide {
  display: none;
}

.carousel-slide.is-active {
  display: block;
  animation: fade-slide 240ms ease;
}

.gallery-heading {
  margin-bottom: 1rem;
}

.gallery-heading h4 {
  margin: 0 0 0.35rem;
  font-size: 1.08rem;
}

.gallery-heading p {
  margin: 0;
}

.qualitative-two-up {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 1rem;
}

.qualitative-dataset-stack {
  display: grid;
  gap: 1rem;
}

.qualitative-dataset-panel {
  background: rgba(255, 255, 255, 0.52);
  border: 1px solid rgba(24, 33, 38, 0.08);
  border-radius: 24px;
  padding: 1rem;
}

.qualitative-figure {
  padding: 0.9rem;
  overflow: hidden;
}

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

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

.image-card {
  padding: 0.7rem;
  overflow: hidden;
}

.qualitative-figure img,
.image-card img {
  transition:
    transform 220ms ease,
    filter 220ms ease;
  transform-origin: center center;
}

.qualitative-figure:hover img,
.qualitative-figure:focus-within img,
.image-card:hover img,
.image-card:focus-within img {
  transform: scale(1.08);
  filter: saturate(1.02);
}

.image-card figcaption {
  margin-top: 0.65rem;
  text-align: center;
  color: var(--muted);
  font-size: 0.92rem;
  line-height: 1.45;
}

@keyframes fade-slide {
  from {
    opacity: 0;
    transform: translateY(8px);
  }

  to {
    opacity: 1;
    transform: translateY(0);
  }
}

.bibtex-section {
  padding-bottom: 4.5rem;
}

.bibtex-card {
  position: relative;
  padding: 1.25rem;
}

.copy-button {
  position: absolute;
  top: 1rem;
  right: 1rem;
  cursor: pointer;
}

pre {
  margin: 0;
  overflow-x: auto;
  padding-right: 5.25rem;
}

code {
  font-family: "SFMono-Regular", ui-monospace, Menlo, Monaco, Consolas, monospace;
  font-size: 0.95rem;
  line-height: 1.6;
}

.footer {
  padding: 0 1.5rem 3rem;
  text-align: center;
}

[data-reveal] {
  opacity: 0;
  transform: translateY(18px);
  transition:
    opacity 650ms ease,
    transform 650ms ease;
}

[data-reveal].is-visible {
  opacity: 1;
  transform: translateY(0);
}

@media (max-width: 1000px) {
  .hero-layout,
  .method-grid,
  .split-panel,
  .results-analysis,
  .qualitative-two-up,
  .three-up,
  .qualitative-waymo-grid,
  .abstract-grid,
  .ablation-band {
    grid-template-columns: 1fr;
  }
}

@media (max-width: 720px) {
  .qualitative-carousel {
    padding: 0.9rem;
  }

  .carousel-toolbar {
    gap: 0.7rem;
  }

  .carousel-dot {
    padding: 0.62rem 0.9rem;
    font-size: 0.88rem;
  }

  .topbar {
    flex-direction: column;
    gap: 0.45rem;
    padding-top: 0.6rem;
    padding-bottom: 0.6rem;
  }

  .topnav {
    flex-wrap: wrap;
    justify-content: center;
    gap: 0.65rem 0.85rem;
    font-size: 0.8rem;
  }

  .hero-inner {
    text-align: center;
  }

  .hero {
    padding-top: 1rem;
  }

  .hero-title,
  .hero-subtitle {
    margin-left: auto;
    margin-right: auto;
  }

  .hero-subtitle {
    font-size: 0.9rem;
  }

  .hero-title {
    font-size: clamp(1.26rem, 5.5vw, 1.7rem);
  }

  .authors {
    gap: 0.25rem 0.7rem;
    font-size: 1.02rem;
  }

  .authors span::after {
    display: none;
  }

  .button-row {
    gap: 0.5rem;
  }

  .button-pill,
  .copy-button {
    text-align: center;
  }

  .button-pill {
    min-width: 0;
    padding: 0.68rem 0.86rem;
    font-size: 0.88rem;
  }

  .hero-media {
    max-width: 100%;
  }

  .video-card video {
    aspect-ratio: auto;
  }

  .copy-button {
    position: static;
    margin-bottom: 1rem;
  }

  pre {
    padding-right: 0;
  }
}