:root {
  --ink: #07111f;
  --muted: #667085;
  --paper: #f6f8fb;
  --white: #ffffff;
  --line: rgba(15, 34, 56, 0.12);
  --cyan: #46d6df;
  --blue: #3178ff;
  --violet: #7c5cff;
  --lime: #bbf55b;
  --radius: 24px;
  --shadow: 0 30px 80px rgba(12, 34, 66, 0.12);
}

* { box-sizing: border-box; }
html { scroll-behavior: smooth; }
body {
  margin: 0;
  color: var(--ink);
  background: var(--paper);
  font-family: Inter, ui-sans-serif, -apple-system, BlinkMacSystemFont, "Segoe UI", sans-serif;
  line-height: 1.6;
  overflow-x: hidden;
}
a { color: inherit; text-decoration: none; }
button { font: inherit; }
code { font-family: "SFMono-Regular", Consolas, "Liberation Mono", monospace; }
.sr-only { position: absolute; width: 1px; height: 1px; padding: 0; margin: -1px; overflow: hidden; clip-path: inset(50%); white-space: nowrap; border: 0; }
section[id] { scroll-margin-top: 100px; }
a:focus-visible, button:focus-visible, summary:focus-visible, [tabindex="0"]:focus-visible { outline: 3px solid var(--blue); outline-offset: 4px; }

.page-decoration { position: absolute; inset: 0; overflow: hidden; pointer-events: none; z-index: -1; }
.page-glow {
  position: absolute;
  z-index: -1;
  width: 42rem;
  height: 42rem;
  border-radius: 50%;
  filter: blur(90px);
  opacity: 0.18;
  pointer-events: none;
}
.page-glow-left { top: -20rem; left: -18rem; background: var(--cyan); }
.page-glow-right { top: 4rem; right: -22rem; background: var(--violet); }

.section-shell { width: min(1180px, calc(100% - 48px)); margin: 0 auto; }
.site-header {
  position: sticky;
  top: 0;
  z-index: 50;
  display: flex;
  align-items: center;
  justify-content: space-between;
  width: min(1240px, calc(100% - 32px));
  margin: 16px auto 0;
  padding: 12px 18px;
  background: rgba(246, 248, 251, 0.82);
  border: 1px solid rgba(255, 255, 255, 0.75);
  border-radius: 18px;
  box-shadow: 0 10px 30px rgba(10, 30, 56, 0.06);
  backdrop-filter: blur(18px);
}
.brand { display: flex; align-items: center; gap: 10px; min-width: 0; font-weight: 800; letter-spacing: -0.02em; }
.brand-copy { display: flex; align-items: center; gap: 14px; min-width: 0; }
.brand-tagline { padding-left: 14px; color: #42607e; border-left: 1px solid var(--line); font-size: 12px; font-weight: 500; letter-spacing: 0; }
.brand-mark {
  display: grid;
  place-items: center;
  width: 38px;
  height: 38px;
  flex-shrink: 0;
  color: white;
  font-size: 11px;
  letter-spacing: 0.05em;
  background: linear-gradient(135deg, var(--blue), var(--violet));
  border-radius: 12px;
}
.site-nav { display: flex; align-items: center; gap: 28px; color: #344054; font-size: 14px; font-weight: 650; }
.site-nav a { transition: color 160ms ease; }
.site-nav a:hover { color: var(--blue); }
.nav-toggle { display: none; padding: 8px; border: 0; background: transparent; }
.nav-toggle span { display: block; width: 23px; height: 2px; margin: 5px; background: var(--ink); }

.hero { padding: 40px 0 24px; text-align: center; }
.kicker {
  color: #42607e;
  font-size: 12px;
  font-weight: 800;
  letter-spacing: 0.15em;
  text-transform: uppercase;
}
.hero h1 {
  margin: 0;
  font-size: clamp(64px, 9vw, 112px);
  line-height: 0.9;
  letter-spacing: -0.08em;
}
.hero h1 strong {
  color: transparent;
  background: linear-gradient(105deg, #07111f 25%, #225be8 60%, #8a55dc 100%);
  -webkit-background-clip: text;
  background-clip: text;
}
.hero-title { margin: 20px auto 0; font-size: clamp(22px, 3vw, 36px); line-height: 1.25; font-weight: 700; letter-spacing: -0.04em; text-wrap: balance; }
.publication-status {
  width: fit-content;
  max-width: 100%;
  margin: 12px auto 0;
  padding: 4px 14px;
  color: #225be8;
  background: rgba(49, 120, 255, 0.08);
  border: 1px solid rgba(49, 120, 255, 0.22);
  border-radius: 999px;
  font-size: 14px;
  font-weight: 650;
}
.publication-status strong { font-weight: 800; }
.hero-highlights { display: flex; flex-wrap: wrap; justify-content: center; gap: 6px 24px; margin: 14px auto 0; color: #53657a; font-size: 13px; }
.hero-highlights strong { color: var(--ink); }
.authors { display: flex; flex-wrap: wrap; justify-content: center; gap: 4px 18px; max-width: 1050px; margin: 18px auto 0; color: #344054; font-size: 14px; }
.authors span:not(:last-child)::after { content: "·"; margin-left: 18px; color: #98a2b3; }
.authors > span, .author-roles > span { white-space: nowrap; }
.authors sup, .affiliations sup, .author-roles sup { color: var(--blue); font-size: .75em; margin-left: 2px; }
.affiliations { display: flex; flex-wrap: wrap; justify-content: center; gap: 4px 8px; margin: 10px auto 0; color: #475467; font-size: 14px; }
.author-roles { display: flex; flex-wrap: wrap; justify-content: center; gap: 4px 22px; margin: 6px auto 0; color: var(--muted); font-size: 13px; }
.hero-actions { display: flex; flex-wrap: wrap; justify-content: center; gap: 10px; margin-top: 18px; }
.button {
  display: inline-flex;
  align-items: center;
  justify-content: center;
  min-width: 104px;
  padding: 11px 18px;
  color: #22344a;
  font-size: 14px;
  font-weight: 750;
  background: rgba(255, 255, 255, 0.86);
  border: 1px solid var(--line);
  border-radius: 999px;
  box-shadow: 0 8px 24px rgba(34, 58, 92, 0.06);
  transition: transform 160ms ease, box-shadow 160ms ease;
}
.button:hover { transform: translateY(-2px); box-shadow: 0 12px 30px rgba(34, 58, 92, 0.12); }
.button-primary { color: white; background: var(--ink); border-color: var(--ink); }

.media-frame { overflow: hidden; background: #081321; border: 1px solid rgba(255,255,255,.08); border-radius: 28px; box-shadow: var(--shadow); }
.media-toolbar { display: flex; align-items: center; gap: 9px; padding: 13px 18px; color: #c8d2df; font-size: 12px; border-bottom: 1px solid rgba(255,255,255,.08); }
.media-status { margin-left: auto; color: #7f92a8; }
.live-dot { width: 8px; height: 8px; background: var(--lime); border-radius: 50%; box-shadow: 0 0 15px var(--lime); }
.scene-preview { position: relative; min-height: 510px; overflow: hidden; background: radial-gradient(circle at 50% 15%, #193d61, #07101c 58%); }
.scene-preview::before { content: ""; position: absolute; inset: 0; background-image: radial-gradient(rgba(133,231,255,.65) 1px, transparent 1px); background-size: 25px 25px; mask-image: linear-gradient(to bottom, black, transparent 75%); opacity: .22; }
.grid-floor { position: absolute; left: -15%; right: -15%; bottom: -15%; height: 64%; background-image: linear-gradient(rgba(77,168,208,.22) 1px, transparent 1px), linear-gradient(90deg, rgba(77,168,208,.22) 1px, transparent 1px); background-size: 48px 48px; transform: perspective(500px) rotateX(62deg); transform-origin: center bottom; }
.trajectory-line { position: absolute; left: 16%; bottom: 29%; width: 66%; height: 28%; border: 3px solid transparent; border-top-color: var(--cyan); border-radius: 50%; transform: rotate(-7deg); filter: drop-shadow(0 0 8px rgba(70,214,223,.75)); }
.camera { position: absolute; width: 25px; height: 18px; background: var(--lime); clip-path: polygon(0 20%, 65% 20%, 100% 0, 100% 100%, 65% 80%, 0 80%); filter: drop-shadow(0 0 7px rgba(187,245,91,.6)); }
.camera-one { left: 24%; bottom: 37%; transform: rotate(15deg); }
.camera-two { left: 48%; bottom: 27%; transform: rotate(-6deg); }
.camera-three { right: 23%; bottom: 41%; transform: rotate(-25deg); }
.point-cloud { position: absolute; border-radius: 50%; filter: blur(2px); opacity: .6; }
.cloud-one { left: 25%; top: 21%; width: 230px; height: 150px; background: radial-gradient(circle, rgba(91,203,250,.9) 0 2px, transparent 3px); background-size: 12px 12px; transform: rotate(-14deg); }
.cloud-two { right: 21%; top: 26%; width: 300px; height: 180px; background: radial-gradient(circle, rgba(174,126,255,.8) 0 2px, transparent 3px); background-size: 14px 14px; transform: rotate(11deg); }
.preview-copy { position: absolute; top: 38%; left: 50%; width: min(520px, 80%); color: white; text-align: center; transform: translate(-50%, -50%); }
.preview-copy span { display: block; color: var(--cyan); font-size: 12px; font-weight: 800; letter-spacing: .15em; text-transform: uppercase; }
.preview-copy strong { display: block; margin-top: 10px; font-size: clamp(22px, 3vw, 34px); line-height: 1.2; }
.view-switcher { display: flex; justify-content: center; gap: 7px; padding: 14px; border-top: 1px solid rgba(255,255,255,.08); }
.view-button { padding: 8px 13px; color: #8497ad; background: transparent; border: 1px solid transparent; border-radius: 999px; cursor: pointer; }
.view-button.active { color: white; background: rgba(255,255,255,.08); border-color: rgba(255,255,255,.1); }

.section-heading { padding-top: 40px; margin-bottom: 28px; }
.section-heading h2, .code-section h2, .citation-section h2, .release-card h2 { margin: 6px 0 0; font-size: clamp(38px, 5.5vw, 70px); line-height: 1.03; letter-spacing: -0.055em; }
.kicker { margin: 0; color: var(--blue); }
.inline-heading .kicker { display: inline; margin-right: 10px; color: #225be8; font-size: 14px; font-weight: 750; letter-spacing: .02em; vertical-align: baseline; }
.section-heading h2.inline-heading, .citation-section h2.inline-heading { margin: 0; font-size: clamp(22px, 2.4vw, 30px); line-height: 1.45; letter-spacing: -.025em; }
.feature-grid { display: grid; grid-template-columns: 1fr; gap: 12px; }
.feature-card { display: grid; grid-template-columns: 26px minmax(0, 1fr); gap: 6px 12px; padding: 18px; background: var(--paper); border: 1px solid var(--line); border-radius: 16px; transition: transform 180ms ease, border-color 180ms ease; }
.feature-card:hover { transform: translateY(-5px); border-color: rgba(49,120,255,.35); }
.feature-number { padding-top: 3px; color: var(--blue); font-size: 12px; font-weight: 800; }
.feature-card h3 { margin: 0; font-size: 19px; line-height: 1.3; letter-spacing: -.03em; }
.feature-card p { grid-column: 2; margin: 0; color: var(--muted); font-size: 14px; }
.feature-card .paper-reference { grid-column: 2; margin-top: 4px; }
.paper-reference { display: inline-block; margin-top: 18px; color: #245bcc; font-size: 13px; font-weight: 650; text-decoration: underline; text-underline-offset: 4px; }
.summary-section { padding: 28px 0 24px; background: var(--white); }
.summary-layout { display: grid; grid-template-columns: minmax(0, 1fr) minmax(0, 1.1fr); align-items: start; gap: 32px; }
.abstract-section { min-width: 0; background: white; scroll-margin-top: 100px; }
.abstract-content { width: 100%; }
.abstract-content h2 { margin: 0 0 18px; text-align: left; font-size: clamp(28px, 3vw, 36px); letter-spacing: -.035em; }
.abstract-content p { margin: 0; color: #3d4d60; font-size: 17px; line-height: 1.8; text-align: left; }
#overview { min-width: 0; }
#overview .section-heading { padding-top: 0; margin-bottom: 20px; }

.method-section { padding-bottom: 28px; color: var(--ink); background: var(--white); }
.method-figure { margin: 0 0 28px; }
.method-figure-link { display: block; padding: 12px; background: var(--white); border: 1px solid var(--line); border-radius: var(--radius); }
.method-figure img { display: block; width: 100%; height: auto; }
.method-figure figcaption { margin-top: 16px; color: #475467; font-size: 15px; line-height: 1.75; }
.method-figure figcaption p { margin: 0; }
.method-figure figcaption strong { color: var(--ink); }
.method-figure a:focus-visible { outline: 3px solid var(--blue); outline-offset: 5px; }
.method-steps { display: grid; grid-template-columns: repeat(3, minmax(0, 1fr)); gap: 24px; margin: 0 0 24px; padding: 0; list-style: none; }
.method-steps li { padding-top: 20px; border-top: 2px solid var(--blue); }
.method-steps h3, .mode-grid h3 { margin: 0 0 10px; font-size: 18px; line-height: 1.5; letter-spacing: -.02em; }
.method-steps .inline-heading .kicker, .mode-grid .inline-heading .kicker { margin-right: 6px; font-size: 13px; letter-spacing: .02em; }
.method-steps p, .mode-grid article > p:last-child { margin: 0; color: #475467; font-size: 14px; }
.mode-grid { display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 20px; margin-bottom: 0; }
.mode-grid article { padding: 26px; border: 1px solid var(--line); border-radius: 18px; background: var(--paper); }
.mode-grid .kicker { color: #225be8; }

.result-grid { display: grid; grid-template-columns: repeat(2, 1fr); gap: 22px; }
.result-card { padding: 12px 12px 24px; background: white; border: 1px solid var(--line); border-radius: var(--radius); }
.result-visual { position: relative; height: 280px; overflow: hidden; border-radius: 16px; }
.result-visual::before { content: ""; position: absolute; inset: 0; background-image: radial-gradient(rgba(255,255,255,.7) 1px, transparent 1.5px); background-size: 11px 11px; opacity: .5; mask-image: linear-gradient(145deg, black, transparent 85%); }
.result-visual span { position: absolute; left: 16px; bottom: 14px; padding: 6px 10px; color: white; font-size: 11px; font-weight: 800; letter-spacing: .1em; text-transform: uppercase; background: rgba(4,16,30,.55); border: 1px solid rgba(255,255,255,.18); border-radius: 999px; backdrop-filter: blur(8px); }
.result-media { height: auto; aspect-ratio: 7 / 3; background: white; }
.result-media::before { display: none; }
.result-media img { display: block; width: 100%; height: 100%; object-fit: contain; }
.result-preview-link { display: block; border-radius: 16px; }
.result-preview-link:focus-visible { outline: 3px solid var(--blue); outline-offset: 3px; }
.result-preview-link:hover h3 { color: var(--blue); }
.result-indoor .result-visual { background: linear-gradient(145deg,#1c4461,#669db1 42%,#be8d69); }
.result-outdoor .result-visual { background: linear-gradient(145deg,#072b37,#358477 48%,#9ac67e); }
.result-driving .result-visual { background: linear-gradient(145deg,#24364c,#7d8fa1 45%,#d2b272); }
.result-rgbd .result-visual { background: linear-gradient(145deg,#18203c,#735c9e 50%,#dc6c8e); }
.result-card h3 { margin: 20px 14px 5px; font-size: 22px; letter-spacing: -.03em; }
.result-card p { margin: 0 14px; color: var(--muted); }
.placeholder-note { margin: 16px 0 28px; color: #8a96a6; font-size: 13px; text-align: center; }
#results.section-shell { width: min(1440px, calc(100% - 48px)); }
.comparison-scene { margin: 0 0 20px; scroll-margin-top: 100px; }
.comparison-caption { display: flex; flex-wrap: wrap; justify-content: center; gap: 6px 16px; margin: 8px 0 12px; color: var(--muted); font-size: 13px; }
.comparison-position { padding: 0 9px; color: #225be8; background: #e8efff; border-radius: 999px; font-weight: 700; font-variant-numeric: tabular-nums; }
.comparison-picker { display: flex; align-items: center; justify-content: center; gap: 16px; margin: 0 auto; }
.comparison-picker[hidden] { display: none; }
.comparison-picker > h3 { flex: 0 0 auto; margin: 0; font-size: 22px; }
.comparison-options { display: grid; grid-template-columns: repeat(4, minmax(0, 1fr)); gap: 8px; min-width: 0; }
.comparison-option { min-height: 44px; padding: 7px 16px; color: #344054; background: var(--white); border: 1px solid #c6d0df; border-radius: 10px; font-size: 13px; font-weight: 650; cursor: pointer; }
.comparison-option:hover { background: #e8efff; border-color: #225be8; }
.comparison-option[aria-pressed="true"] { color: #1745b8; background: #e8efff; border: 2px solid #225be8; padding: 6px 15px; }
.comparison-embed { display: block; width: 100%; height: 420px; border: 0; }
.comparison-fallback { width: 100%; height: auto; }

.code-section { padding: 110px 0; color: white; background: linear-gradient(145deg,#101d32,#172844); }
.code-section .kicker { color: var(--cyan); }
.code-layout { display: grid; grid-template-columns: .85fr 1.15fr; align-items: center; gap: 70px; }
.code-intro { max-width: 470px; color: #a7b5c5; }
.availability-list { display: grid; gap: 8px; margin-top: 28px; color: #c3ceda; font-size: 14px; }
.availability-list i { display: inline-grid; place-items: center; width: 19px; height: 19px; margin-right: 8px; color: #102033; font-style: normal; background: var(--lime); border-radius: 50%; }
.terminal-card { position: relative; overflow: hidden; background: #07101d; border: 1px solid rgba(255,255,255,.12); border-radius: 20px; box-shadow: 0 30px 70px rgba(0,0,0,.3); }
.terminal-bar { display: flex; align-items: center; gap: 7px; padding: 13px 17px; background: #0d1928; border-bottom: 1px solid rgba(255,255,255,.08); }
.terminal-bar span { width: 10px; height: 10px; border-radius: 50%; background: #ff6b6b; }.terminal-bar span:nth-child(2){background:#ffd166}.terminal-bar span:nth-child(3){background:#65df9b}.terminal-bar b{margin-left:auto;color:#687b91;font-size:11px;}
.terminal-card pre { overflow-x: auto; margin: 0; padding: 28px; color: #e3ebf3; font-size: 12px; line-height: 1.75; }
.terminal-card .comment { color: #688198; }
.copy-command, .copy-bibtex { padding: 8px 12px; color: #d8e2ed; background: rgba(255,255,255,.08); border: 1px solid rgba(255,255,255,.12); border-radius: 9px; cursor: pointer; }
.copy-command { position: absolute; right: 14px; bottom: 14px; }

.release-section { padding: 110px 0; }
.release-card { padding: 50px; background: linear-gradient(135deg,#e6f9fb,#eeeafd); border: 1px solid rgba(49,120,255,.12); border-radius: 30px; }
.release-card h2 { font-size: clamp(34px,4vw,54px); }
.release-columns { display: grid; grid-template-columns: 1fr 1fr; gap: 60px; margin-top: 45px; padding-top: 30px; border-top: 1px solid rgba(30,72,120,.16); }
.release-columns h3 { margin: 0 0 6px; font-size: 15px; }.release-columns p { margin: 0; color: #52657a; }

.citation-section { padding: 40px 0; background: white; }
.citation-layout { display: grid; grid-template-columns: minmax(0, 1fr); align-items: start; gap: 16px; }
.bibtex-card { position: relative; overflow: hidden; background: var(--white); }
.bibtex-card pre { overflow-x: auto; white-space: pre-wrap; overflow-wrap: anywhere; margin: 0; padding: 0; color: #344054; font-size: 13px; line-height: 1.7; }
.copy-bibtex { display: block; margin: 12px 0 0 auto; color: #344054; background: var(--paper); border-color: var(--line); }
.copy-bibtex:hover { color: var(--ink); background: #e9eef5; }

.site-footer { display: grid; grid-template-columns: 1fr auto; gap: 15px; padding-top: 28px; padding-bottom: 28px; }
.site-footer p { margin: 4px 0 0; color: var(--muted); font-size: 13px; }
.footer-links { display: flex; gap: 22px; font-size: 13px; font-weight: 700; }
.copyright { grid-column: 1 / -1; padding-top: 20px; border-top: 1px solid var(--line); }

@media (max-width: 920px) {
  .brand-copy { align-items: flex-start; flex-direction: column; gap: 0; }
  .brand-tagline { padding-left: 0; border-left: 0; font-size: 11px; }
  .summary-layout { grid-template-columns: 1fr; gap: 32px; }
  .feature-grid, .method-steps { grid-template-columns: 1fr; }
  .code-layout { grid-template-columns: 1fr; }
  .code-layout { gap: 45px; }
}

@media (max-width: 680px) {
  #results.section-shell { width: calc(100% - 28px); }
  .comparison-embed { height: 1600px; }
  .comparison-picker { gap: 8px; }
  .comparison-picker > h3 { font-size: 16px; }
  .comparison-options { gap: 4px; }
  .comparison-option { padding-left: 4px; padding-right: 4px; font-size: 11px; overflow-wrap: anywhere; }
  .comparison-option[aria-pressed="true"] { padding-left: 3px; padding-right: 3px; }
  .section-shell { width: min(100% - 28px, 1180px); }
  .site-header { margin-top: 8px; }
  .nav-toggle { display: block; }
  .site-nav { position: absolute; top: 64px; left: 0; right: 0; display: none; flex-direction: column; gap: 0; padding: 8px; background: rgba(246,248,251,.98); border: 1px solid var(--line); border-radius: 16px; }
  .site-nav.open { display: flex; }
  .site-nav a { width: 100%; padding: 11px 13px; }
  .hero { padding: 28px 0 20px; }
  .authors span:not(:last-child)::after { display: none; }
  .scene-preview { min-height: 420px; }
  .media-status { display: none; }
  .view-switcher { overflow-x: auto; justify-content: flex-start; }
  .view-button { flex: 0 0 auto; }
  .section-heading { padding-top: 28px; margin-bottom: 24px; }
  .feature-grid, .result-grid, .release-columns { grid-template-columns: 1fr; }
  .mode-grid { grid-template-columns: 1fr; }
  .hero-highlights { gap: 6px 16px; }
  .summary-section { padding: 24px 0; }
  .citation-section { padding: 28px 0; }
  .abstract-content p { font-size: 16px; }
  .method-figure-link { padding: 6px; border-radius: 12px; }
  .result-visual:not(.result-media) { height: 220px; }
  .release-card { padding: 30px 24px; }
  .release-columns { gap: 25px; }
  .terminal-card pre { font-size: 10px; }
  .site-footer { grid-template-columns: 1fr; }
  .copyright { grid-column: 1; }
}

@media (prefers-reduced-motion: reduce) {
  html { scroll-behavior: auto; }
  *, *::before, *::after { transition-duration: .01ms !important; }
}