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@media(max-width:800px){.header nav{gap:12px}.hero-heading{display:block}.hero-aside{max-width:100%;margin-top:25px;display:flex;align-items:center;gap:30px;justify-content:space-between}.hero-aside p{max-width:330px;margin:0}.hero-aside .text-link{white-space:nowrap;font-size:14px}.section-heading{gap:25px}.section-heading>p{max-width:260px}.reconstruction-layout{grid-template-columns:1fr 1fr;gap:25px}.comparison-card{padding:20px 18px}.compare-frame{height:260px}.compare-control{grid-template-columns:1fr;gap:3px}.compare-control input{grid-column:auto}.compare-control output{font-size:10px}.stage-panel{grid-template-columns:1fr 1.1fr}.stage-copy{padding:28px 24px}.stage-copy h3{font-size:26px}.experiment-layout{gap:30px}.experiment-copy h3{font-size:26px}.object-card-art{padding:15px 10px 0}.object-card-copy{padding:16px}.object-card-copy h3{font-size:21px}.object-card-copy>span{right:15px}.method-layout{gap:35px}.policy-layout{grid-template-columns:1fr 1.1fr;gap:28px}.legend{gap:10px;font-size:9px}}
@media(max-width:680px){html{scroll-padding-top:90px}.wrap,.nav-wrap{width:88%}.nav-wrap{height:74px}.brand img{width:39px;height:39px}.brand>span:first-of-type{font-size:26px}.brand-sub{display:block;font-size:10px;margin-left:4px;padding-left:14px}.menu-toggle{display:flex;align-items:center;gap:14px;border:0;background:transparent;color:var(--purple);font-size:13px;padding:9px 0 9px 14px}.menu-toggle span{color:var(--orange);font-size:19px}.header nav{display:none;position:absolute;left:0;right:0;top:74px;background:white;padding:10px 6% 22px;border-bottom:1px solid var(--line);box-shadow:0 15px 20px #2d233c06;grid-template-columns:1fr 1fr;gap:10px 25px}.header nav.open{display:grid}.header nav a{font-size:15px;padding:10px 0}.hero{padding-top:38px}h1{font-size:clamp(36px,8.6vw,54px)}h2{font-size:35px}.hero .eyebrow{font-size:9px;margin-bottom:20px;letter-spacing:.1em}.eyebrow-divider{padding:0 7px}.hero-aside{display:block;margin-top:24px}.hero-aside p{font-size:17px;max-width:400px}.hero-aside .text-link{margin-top:14px}.hero-visual{margin-top:30px;padding:17px 14px 21px;border-radius:20px}.mini-label{font-size:8px}.schematic-label{font-size:9px}.hero-scene{margin:8px -11px}.scene-captions{gap:7px;margin-top:0}.scene-captions span{font-size:7px;letter-spacing:.1em}.scene-captions strong{font-size:12px;line-height:1.3;letter-spacing:-.02em}.hero-bottom{align-items:flex-start;flex-direction:column;gap:8px;margin-top:19px}.hero-bottom p{font-size:11px}.draft-tag{font-size:9px;margin-left:6px}.draft-note{font-size:10px;margin-top:10px}.section{padding-top:75px}.section-heading{display:block;margin-bottom:27px}.section-heading>p{max-width:100%;font-size:15px;margin-top:22px}.section-heading .eyebrow{font-size:10px;margin-bottom:16px}.pipeline-tabs{grid-template-columns:repeat(2,1fr);gap:9px}.pipeline-tabs button{padding:14px 12px;gap:11px;border-radius:12px}.pipeline-tabs button>span:nth-child(2){font-size:17px}.pipeline-tabs small{font-size:9px}.step-number{font-size:10px}.stage-panel{display:flex;flex-direction:column;border-radius:20px}.stage-art{padding:35px 18px 0;min-height:235px}.stage-art svg{max-height:235px;margin:auto}.stage-copy{padding:25px 25px 28px}.stage-copy h3{font-size:28px}.stage-copy>p:not(.eyebrow){min-height:0;font-size:15px}.io-list{margin-top:20px}.panel-label{top:19px;left:22px;font-size:9px}.feedback-caption{font-size:10px;margin-top:14px}.reconstruction-layout,.policy-layout,.experiment-layout,.method-layout{display:flex;flex-direction:column;gap:30px;align-items:stretch}.comparison-card{padding:20px 20px 18px}.compare-frame{height:280px}.compare-control{grid-template-columns:1fr auto;gap:10px}.compare-control input{grid-column:1/-1}.compare-control output{font-size:10px}.reconstruction-copy h3{font-size:28px}.feature-line{padding:15px 0}.feature-line p{font-size:14px;max-width:100%}.policy-copy{order:2}.policy-copy h3{font-size:28px}.policy-visual{order:1}.legend{font-size:10px;gap:15px}.policy-copy>.mini-label{font-size:9px;margin-bottom:16px}.policy-phase{margin-top:25px}.experiment-media{padding:22px 18px}.experiment-copy>.eyebrow{font-size:10px}.experiment-tabs{gap:28px}.experiment-copy h3{font-size:28px}#experiment-panel{min-height:0}.zoo-toolbar{align-items:flex-start;flex-direction:column;gap:14px}.pill{font-size:11px;padding:7px 14px}.zoo-toolbar>p{font-size:11px}.object-grid{grid-template-columns:repeat(2,1fr);gap:14px}.object-card{border-radius:18px}.object-card-art svg{height:135px}.object-index{top:13px;left:16px;font-size:8px}.object-card-copy{padding:15px 13px 17px}.object-card-copy h3{font-size:21px}.object-card-copy p{font-size:10px;max-width:90%}.object-card-copy>span{font-size:18px;right:12px;top:14px}.method-intro>p:not(.eyebrow){font-size:16px;max-width:100%}.method-note{max-width:100%;margin-top:25px}.method-details summary{font-size:19px;gap:14px}.method-details details>div{padding-left:29px}.references{margin-top:45px;grid-template-columns:1fr;gap:24px}.references h3{font-size:26px}.reference-slot{border-top:1px solid var(--line);padding-top:20px}.footer{padding-top:55px}.footer-ribbon{margin-bottom:12px}.footer-content{gap:18px}.footer-content p{order:3;width:100%;font-size:12px}.footer-content>.text-link{font-size:12px}.footer-bottom{font-size:9px;display:block;margin-top:21px}.footer-bottom>span{display:block;margin-top:5px}.dialog-copy{padding:25px}.dialog-copy h2{font-size:32px}#dialog-art svg{height:210px}}
@media(prefers-reduced-motion:reduce){html{scroll-behavior:auto}*,*::before,*::after{transition:none!important;animation:none!important}}
@media print{.header{position:static}button,input,.menu-toggle,.dialog-close{display:none!important}.section{padding-top:40px}.hero{padding-top:25px}.stage-panel,.comparison-card,.object-card{break-inside:avoid}.hero-visual,.stage-art,.policy-visual,.experiment-media,.object-card-art{-webkit-print-color-adjust:exact;print-color-adjust:exact}.footer{padding-top:30px}a{text-decoration:none}dialog{display:none}}
/* Manuscript-grounded content and figures. */
.source-link{color:var(--purple);text-decoration:underline;text-underline-offset:3px;white-space:nowrap}.source-note{font-size:11px;line-height:1.65;color:var(--body);margin:14px 0}.stage-copy .source-note{min-height:0!important;font-size:10px!important;margin:12px 0!important}.stage-copy .io-list{margin-bottom:12px}.research-figure{margin:38px 0 0;padding:26px;border:1px solid var(--line);border-radius:24px;background:white}.figure-heading{display:flex;justify-content:space-between;align-items:center;gap:24px;margin-bottom:24px}.figure-heading .mini-label{display:block;margin-bottom:10px}.figure-heading .source-link{font-size:12px}.research-figure img{width:100%;height:auto;margin:14px 0 20px}.research-figure figcaption{font-size:12px;color:var(--body);line-height:1.7}.reconstruction-results{display:grid;grid-template-columns:1fr 1.4fr;align-items:center;gap:35px;padding:30px 0 0}.reconstruction-results h3{font-size:25px;margin:10px 0}.reconstruction-results p:not(.mini-label){font-size:12px}.reconstruction-results dl{display:grid;grid-template-columns:repeat(3,1fr);gap:20px;margin:0}.reconstruction-results dl>div{padding-left:22px;border-left:1px solid var(--line)}.reconstruction-results dt{font-size:12px}.reconstruction-results dd{margin:10px 0 0;font-size:35px;letter-spacing:-.04em;color:var(--purple);line-height:1.1}.reconstruction-results dd>span{font-size:20px;margin-left:3px}.paper-results{margin-top:38px;border:1px solid var(--line);border-radius:24px;padding:28px 32px}.paper-results h3{font-size:27px}.table-scroll{overflow-x:auto}table{width:100%;border-collapse:collapse;font-size:14px;text-align:left}caption{font-size:12px;text-align:left;color:var(--body);margin:0 0 16px}th,td{padding:14px 16px;border-bottom:1px solid var(--line)}th{font-weight:500}thead{font-size:11px;color:var(--body)}.highlight-row{background:var(--soft);color:var(--purple)}.paper-results>.quiet-note{margin-top:20px}.experiment-layout{align-items:start}.experiment-media{background:#faf8fc;padding:22px}.experiment-media .visual-topline{margin-bottom:18px}#experiment-scene{min-height:260px}#experiment-scene img{width:100%;height:auto;max-height:400px;object-fit:contain;border-radius:14px;background:#f1edf5;aspect-ratio:665/461}.experiment-status{margin-top:15px;font-size:10px}.result-description{font-size:13px;margin-bottom:25px}.success-chart{display:grid;gap:16px}.success-row{display:grid;grid-template-columns:185px 1fr 76px;align-items:center;gap:23px}.success-label{font-size:14px;line-height:1.25}.success-label small{display:block;font-size:10px;color:var(--body);margin-top:4px}.success-track{height:15px;background:#f3eff6;border-radius:3px;overflow:hidden}.success-track>span{display:block;height:100%;background:#c4aedb;border-radius:3px}.primary .success-track>span{background:var(--purple)}.success-row>strong{font-size:18px;text-align:right;font-weight:500}.success-row.primary>strong{color:var(--purple)}.grasp-objects{display:grid;grid-template-columns:repeat(4,1fr);gap:20px;border-top:1px solid var(--line);padding-top:27px;margin-top:30px}.grasp-object img{width:100%;height:120px;object-fit:contain;background:#f8f7fa;border-radius:12px}.grasp-object h4{font-size:18px;margin-top:12px}.grasp-object p{font-size:11px;margin-top:4px}.grasp-object p strong{color:var(--purple);font-weight:500}.grasp-object small{font-size:10px;color:var(--body)}.comparison-caveat{font-size:12px;line-height:1.7;background:var(--soft);padding:18px 22px;border-radius:12px;margin-top:20px}.paper-art{padding:44px 18px 18px;background:#faf8fc!important}.paper-art>img{width:100%;height:235px;object-fit:contain;background:white;border-radius:12px}.object-card-copy p{max-width:92%;line-height:1.5}.object-card-copy h3{font-size:23px;max-width:90%}#object-dialog{width:min(1000px,92vw)}#dialog-art{background:white;padding:0 30px 30px}#dialog-art>img{height:auto;width:100%}.dialog-copy dl>div{gap:30px}.dialog-copy dd{text-align:right}.dialog-copy>.source-note{font-size:11px}.dialog-close{position:sticky;top:16px;margin-left:calc(100% - 54px);margin-bottom:-36px;display:block}.reference-slot{align-items:flex-start;scroll-margin-top:115px}.references{align-items:start}.reference-slot p{font-size:14px;line-height:1.5}.reference-note{font-size:11px;margin-top:24px;max-width:900px}.hero-heading{grid-template-columns:1.6fr 1fr}
@media(max-width:1000px){.reconstruction-results{grid-template-columns:1fr}.paper-results{padding:25px}.success-row{grid-template-columns:155px 1fr 70px;gap:17px}.grasp-objects{gap:15px}.paper-art>img{height:190px}.object-card-copy h3{font-size:21px}}
@media(max-width:680px){.hero-heading{display:block}.research-figure{padding:18px;margin-top:28px}.research-figure img{min-width:0}.research-figure figcaption{font-size:11px}.figure-heading{align-items:flex-start;flex-wrap:wrap;gap:12px;margin-bottom:20px}.figure-heading .mini-label{font-size:9px}.figure-heading h3{font-size:25px}.reconstruction-results{gap:25px;padding-top:25px}.reconstruction-results dl{gap:10px}.reconstruction-results dl>div{padding-left:10px}.reconstruction-results dt{font-size:10px}.reconstruction-results dd{font-size:27px}.reconstruction-results dd>span{font-size:16px}.paper-results{padding:20px 17px;margin-top:30px}th,td{padding:12px 10px;font-size:12px}thead th{font-size:10px}caption{font-size:11px}#experiment-scene{min-height:0}.experiment-media{padding:18px}.success-row{grid-template-columns:103px 1fr 58px;gap:10px}.success-label{font-size:12px}.success-label small{font-size:8px;line-height:1.4}.success-row>strong{font-size:15px}.success-track{height:12px}.grasp-objects{grid-template-columns:repeat(2,1fr);gap:22px 14px}.grasp-object img{height:105px}.comparison-caveat{padding:15px;font-size:11px}.result-description{font-size:12px}.object-grid{grid-template-columns:1fr}.paper-art>img{height:270px}.object-card-copy{padding:19px}.object-card-copy h3{font-size:25px}.object-card-copy p{font-size:12px}.object-card-copy>span{right:22px;top:20px}.object-index{font-size:10px;top:17px;left:20px}.dialog-copy{padding:28px 22px 15px}.dialog-copy dd{max-width:60%}.dialog-copy h2{font-size:31px}#dialog-art{padding:0 10px 20px}.references{gap:22px}.reference-slot p{font-size:15px}}
.pipeline-tabs{grid-template-columns:repeat(4,minmax(0,1fr))}.pipeline-tabs button{min-width:0}.pipeline-tabs button>span:nth-child(2){min-width:0}.pipeline-tabs small{white-space:normal}
@media(max-width:680px){.pipeline-tabs{grid-template-columns:repeat(2,minmax(0,1fr))}.pipeline-tabs button{align-items:flex-start}.pipeline-tabs small{line-height:1.5}}
/* Academic project identity: palette reference only, no company branding. */
.project-home{font-size:19px;font-weight:500;letter-spacing:-.035em;line-height:1.2;flex-shrink:0}.project-home>span{display:block;font-size:10px;letter-spacing:.06em;font-weight:400;color:var(--body);margin-top:6px}.nav-wrap{height:78px}.hero{padding-top:66px}.project-heading{text-align:center;max-width:950px;margin-inline:auto}.project-heading .eyebrow{font-size:11px;margin-bottom:16px}.project-heading h1{font-size:clamp(44px,5.2vw,68px);font-weight:500;letter-spacing:-.045em;color:var(--ink);line-height:1.1}.project-subtitle{font-size:clamp(28px,3.3vw,43px);line-height:1.2;letter-spacing:-.035em;color:var(--purple);margin-top:14px}.project-venue{font-size:14px;margin-top:25px;color:var(--ink)}.project-authors{font-size:13px;color:var(--body);margin-top:9px}.project-resources{display:flex;justify-content:center;gap:12px;flex-wrap:wrap;margin-top:25px}.project-resources a{display:inline-flex;align-items:center;gap:15px;font-size:13px;color:var(--purple);padding:9px 18px;background:var(--soft);border:1px solid #e5d9ef;border-radius:7px;transition:background .2s,border-color .2s}.project-resources a:hover{background:#eee5f5;border-color:#bda0d4}.project-resources span{color:var(--orange);font-size:17px}.project-summary{font-size:17px;line-height:1.75;max-width:790px;margin:30px auto 0;text-align:left}.hero-visual{margin-top:35px}.scene-captions strong{font-size:19px}.teaser-caption{font-size:12px;line-height:1.7;text-align:center;max-width:950px;margin:18px auto 0}.hero .draft-note{font-size:11px;text-align:center;margin:8px auto 0;max-width:950px}.section{padding-top:85px}.section-heading{display:block}.section-heading>div{max-width:900px}.section-heading h2,.method-intro h2{font-size:clamp(30px,3.2vw,42px);line-height:1.18;letter-spacing:-.035em;color:var(--ink)}.section-heading .eyebrow{margin-bottom:13px;font-size:10px}.section-heading>p{max-width:850px;font-size:16px;line-height:1.7;margin-top:19px;padding:0}.project-footer{padding-top:50px;margin-top:65px;border-top:1px solid var(--line)}.project-footer .footer-content p{font-size:14px;color:var(--ink)}.footer-links{display:flex;gap:25px;font-size:12px;color:var(--purple)}.project-footer .footer-bottom{font-size:11px}.project-footer .footer-bottom a{color:var(--purple)}
@media(max-width:1000px){.project-home{font-size:17px}.header nav{gap:15px}.scene-captions strong{font-size:17px}}
@media(max-width:680px){.nav-wrap{height:70px}.header nav{top:70px}.project-home{font-size:18px}.project-home>span{font-size:9px;margin-top:4px}.hero{padding-top:40px}.project-heading h1{font-size:43px}.project-subtitle{font-size:28px;line-height:1.25;margin-top:12px}.project-heading .eyebrow{font-size:9px}.project-venue{font-size:12px;line-height:1.6;margin-top:21px}.project-authors{font-size:11px}.project-resources{gap:8px;margin-top:22px}.project-resources a{font-size:11px;padding:8px 12px;gap:9px}.project-resources span{font-size:14px}.project-summary{font-size:15px;line-height:1.75;margin-top:25px}.hero-visual{margin-top:25px}.scene-captions strong{font-size:11px;line-height:1.45}.scene-captions{gap:10px}.teaser-caption{font-size:10px;text-align:left;margin-top:16px}.hero .draft-note{text-align:left;font-size:10px}.section{padding-top:65px}.section-heading h2,.method-intro h2{font-size:32px;line-height:1.2}.section-heading>p{font-size:15px;margin-top:16px}.project-footer{padding-top:28px;margin-top:45px}.project-footer .footer-content{display:block}.project-footer .footer-content p{font-size:13px;margin-bottom:15px}.footer-links{font-size:12px;gap:24px}.project-footer .footer-bottom{font-size:10px}.project-footer .footer-bottom a{display:block;margin-top:8px}}
/* Start directly with the interactive content. */
#pipeline{padding-top:32px}#pipeline .section-heading{margin-bottom:25px}#pipeline .section-heading h1{font-size:clamp(30px,3.2vw,42px);line-height:1.18;letter-spacing:-.035em;font-weight:450}#pipeline .section-heading>p{margin-top:13px;max-width:900px}.pipeline-overview{margin-top:25px;border-top:1px solid var(--line);padding-top:18px}.pipeline-overview>summary{display:flex;align-items:center;justify-content:space-between;list-style:none;cursor:pointer;font-size:13px;color:var(--purple)}.pipeline-overview>summary::-webkit-details-marker{display:none}.pipeline-overview>summary>span{font-size:20px;color:var(--orange)}.pipeline-overview[open]>summary>span{transform:rotate(45deg)}.pipeline-overview .hero-visual{margin-top:20px}
@media(max-width:680px){#pipeline{padding-top:25px}#pipeline .section-heading h1{font-size:30px}#pipeline .section-heading{margin-bottom:22px}#pipeline .section-heading>p{font-size:14px}.pipeline-overview>summary{font-size:12px}}

/* Interactive geometry and motion retain the original palette and card system. */
.project-home .brand-dot{display:inline;font-size:inherit;color:var(--orange);letter-spacing:0;margin:0}
.stage-art{align-items:center;padding:58px 22px 20px;min-width:0}
.stage-copy{align-self:center}
#stage-scene{width:100%;min-width:0}
.scene-controls{display:flex;flex-wrap:wrap;align-items:center;justify-content:space-between;gap:10px}
.scene-controls .pill,.field-toolbar .pill{font-size:12px;padding:6px 12px}
.capture-modes{display:flex;gap:5px;flex-wrap:wrap}
.capture-canvas{height:310px;width:100%;position:relative;cursor:grab}
.capture-canvas:active{cursor:grabbing}
.capture-canvas canvas{display:block;width:100%;height:100%;border-radius:12px;touch-action:none}
.scene-bottom{display:flex;align-items:center;justify-content:space-between;gap:12px;margin-top:12px;min-height:26px}
.scene-bottom>span{font-size:11px;color:var(--body)}
.text-button{background:none;border:0;padding:5px 0;color:var(--purple);font-size:12px;white-space:nowrap}
.text-button:hover{text-decoration:underline;text-underline-offset:4px}
.reconstruct-demo svg,.motion-demo svg{width:100%;height:auto;max-height:none}
.svg-label{fill:var(--purple);font:500 10px Outfit,Arial,sans-serif;letter-spacing:.1em}
.svg-copy{fill:var(--body);font:400 12px Outfit,Arial,sans-serif}
.neural-node{animation:node-pulse 2.5s ease-in-out infinite}
.flow-line{animation:signal-flow 2s linear infinite}
@keyframes node-pulse{0%,100%{opacity:.4}45%{opacity:1}}
@keyframes signal-flow{to{stroke-dashoffset:-112}}
.compare-frame{height:340px;margin-bottom:16px}
.compare-scene canvas{width:100%;height:100%;display:block}
.field-toolbar{display:flex;gap:7px;justify-content:center;flex-wrap:wrap;margin:0 0 12px}
.field-key{display:flex;align-items:center;justify-content:center;gap:9px;color:var(--body);font-size:11px;min-height:22px;margin-bottom:14px}
.sdf-scale,.normal-scale{display:inline-block;width:68px;height:6px;border-radius:3px;background:linear-gradient(90deg,#ff6841,#fff,#7846b8)}
.normal-scale{background:linear-gradient(90deg,#81c8e4,#c6a0f0,#f6b294)}
.gif-panel>img{width:100%;height:auto;aspect-ratio:1200/620;object-fit:contain;border-radius:13px;background:white}
.gradient-steps{display:flex;align-items:center;justify-content:center;gap:17px;color:var(--purple);font-size:12px;margin:20px 0}
.gradient-steps i{color:var(--orange);font-size:19px;font-style:normal}
.policy-visual{align-self:start;min-width:0}
#policy-scene{margin-top:10px}
.motion-progress{height:3px;background:#e9dff2;border-radius:2px;overflow:hidden;margin:8px 16px 0}
.motion-progress span{display:block;width:100%;height:100%;background:var(--orange);transform-origin:left;animation:motion-progress 8s linear infinite}
@keyframes motion-progress{0%{transform:scaleX(0)}100%{transform:scaleX(1)}}
.optimizing-hand{animation:hand-refine 8s ease-in-out infinite;transform-origin:0 0}
.gradient-vectors{animation:gradient-pulse 2s ease-in-out infinite}
.contact-pulse{animation:contact-pulse 8s infinite}
@keyframes hand-refine{0%,10%,100%{transform:translate(198px,186px) rotate(-18deg)}35%{transform:translate(246px,182px) rotate(-8deg)}60%,88%{transform:translate(301px,178px) rotate(8deg)}}
@keyframes gradient-pulse{0%,100%{opacity:.15}50%{opacity:.8}}
@keyframes contact-pulse{0%,50%,100%{opacity:0}68%,85%{opacity:1}}
.phase-0 .optimizing-hand,.phase-0 .ghost-hand{opacity:.12;animation:none;transform:translate(300px,178px) rotate(8deg)}
.phase-0 .gradient-vectors{animation:gradient-pulse 3s ease-in-out infinite;stroke:var(--purple)}
.phase-0 .contact-pulse{animation:gradient-pulse 2s infinite;stroke:var(--purple);r:35}
.phase-2 .optimizing-hand{animation-duration:5s}
.phase-2 .gradient-vectors{opacity:.12;animation:none}
.phase-2 .trace-point{offset-path:path('M165 240Q190 88 300 182');animation:trace-motion 5s linear infinite}
@keyframes trace-motion{from{offset-distance:0%}to{offset-distance:100%}}
.phase-3 .gradient-vectors{stroke:var(--purple);animation-duration:1s}
.phase-3 .optimizing-hand{animation-duration:4s}
.pick-object{animation:pick-object 8s ease-in-out infinite}
.pick-gripper{animation:pick-gripper 8s ease-in-out infinite}
.robot-link-back,.robot-link-front{animation:robot-arm 8s ease-in-out infinite}
@keyframes pick-object{0%,20%,100%{transform:translate(0,0)}35%{transform:translate(0,-80px)}54%{transform:translate(153px,-80px)}70%,92%{transform:translate(153px,0)}96%{opacity:0}97%{transform:translate(0,0);opacity:0}}
@keyframes pick-gripper{0%,100%{transform:translate(239px,173px)}20%{transform:translate(239px,211px)}35%{transform:translate(239px,131px)}54%{transform:translate(392px,131px)}70%{transform:translate(392px,211px)}82%,92%{transform:translate(392px,150px)}}
@keyframes robot-arm{0%,100%{d:path('M104 242 L115 158 L192 116 L239 173')}20%{d:path('M104 242 L126 168 L199 150 L239 211')}35%{d:path('M104 242 L104 145 L182 90 L239 131')}54%{d:path('M104 242 L174 132 L295 98 L392 131')}70%{d:path('M104 242 L191 175 L302 155 L392 211')}82%,92%{d:path('M104 242 L174 138 L295 103 L392 150')}}
.animation-paused *{animation-play-state:paused!important}
#experiment-scene{position:relative;height:400px;display:flex;align-items:center;justify-content:center;background:#f3eef8;border-radius:14px;overflow:hidden}
#experiment-scene img.setup-photo{height:100%;max-height:400px;object-fit:contain;aspect-ratio:auto}
#experiment-scene img.experiment-gif{height:100%;max-height:400px;width:auto;max-width:100%;aspect-ratio:9/16;border-radius:0;object-fit:contain}
.media-pause{position:absolute;right:12px;bottom:12px;background:rgba(255,255,255,.95);border:1px solid var(--line);border-radius:8px;padding:7px 11px;font-size:11px;color:var(--purple)}
.family-mosaic{display:grid;grid-template-columns:1fr 1fr;gap:5px;padding:12px;background:#faf8fc}
.family-mosaic img{width:100%;height:100px;object-fit:contain;background:white;border-radius:8px}
.family-card .object-card-copy p{max-width:95%;line-height:1.6}
.zoo-browser{margin-top:32px;display:grid;grid-template-columns:minmax(0,1.65fr) minmax(0,1fr);gap:24px;align-items:start}
.zoo-browser[hidden]{display:none}
.zoo-viewer{border:1px solid var(--line);border-radius:24px;padding:24px;min-width:0;background:#faf8fc}
.zoo-viewer .figure-heading{align-items:center;margin-bottom:20px;gap:12px}
.zoo-viewer .mini-label{margin-bottom:6px}
.zoo-viewer h3{font-size:26px}
.zoo-viewer .outline-button{margin:0;flex-shrink:0;font-size:11px;padding:8px 12px;gap:0}
.zoo-expand{position:relative;display:block;width:100%;border:0;padding:0;background:white;border-radius:12px;overflow:hidden}
.zoo-expand>img{width:100%;height:330px;object-fit:contain}
.zoo-expand>span{position:absolute;right:12px;bottom:10px;font-size:11px;color:var(--purple);background:#fffE;padding:4px 9px;border-radius:6px}
.zoo-thumbnails{display:grid;grid-template-columns:repeat(3,minmax(0,1fr));gap:9px;max-height:445px;overflow:auto;padding:4px}
.zoo-thumb{border:1px solid var(--line);border-radius:12px;background:white;padding:6px;min-width:0;text-align:center}
.zoo-thumb.active{border-color:var(--purple);background:#f6effb;box-shadow:0 0 0 1px var(--purple)}
.zoo-thumb img{width:100%;height:72px;object-fit:contain;border-radius:7px;background:white}
.zoo-thumb span{display:block;font-size:11px;margin-top:6px;line-height:1.3;min-height:27px}
#dialog-art>img{max-height:65vh;object-fit:contain}
#dialog-motion{margin-top:16px}
.references{margin-top:54px}
.project-footer{margin-top:60px}
@media(max-width:1100px){.scene-controls{justify-content:center}.capture-canvas{height:290px}.scene-bottom{flex-wrap:wrap;gap:4px}.zoo-thumbnails{grid-template-columns:repeat(2,minmax(0,1fr))}.zoo-expand>img{height:290px}}
@media(max-width:680px){.stage-art{padding:53px 14px 16px;min-height:0}.capture-canvas{height:285px}.scene-controls{gap:9px}.scene-controls .pill,.field-toolbar .pill{padding:5px 10px;font-size:11px}.stage-art svg{max-height:none}.stage-panel{min-height:0}.compare-frame{height:280px}.comparison-card{padding:20px 14px}.scene-bottom>span{font-size:10px}.scene-bottom .text-button{font-size:11px}.gradient-steps{gap:12px;margin:13px 0}.zoo-browser{grid-template-columns:1fr;gap:15px}.zoo-viewer{padding:18px;border-radius:20px}.zoo-viewer h3{font-size:23px}.zoo-expand>img{height:245px}.zoo-thumbnails{grid-template-columns:repeat(3,minmax(0,1fr));max-height:285px}.family-mosaic img{height:105px}#experiment-scene{height:365px}.policy-visual{padding:22px 14px}.svg-copy{font-size:13px}.family-card .object-card-copy p{font-size:12px}.project-footer .footer-content{gap:20px;flex-wrap:wrap}}
@media(prefers-reduced-motion:reduce){.neural-node,.flow-line{animation:none!important}.pick-gripper{transform:translate(239px,173px)}.optimizing-hand{transform:translate(301px,178px) rotate(8deg)}}

.family-card.active{border-color:var(--purple);box-shadow:0 0 0 1px var(--purple)}

/* Compact field illustrations and the articulated deployment walkthrough. */
.field-dot{display:inline-block;width:9px;height:9px;border-radius:50%;flex-shrink:0}.field-dot.inside{background:#ffd7c9}.field-dot.surface{background:var(--purple)}.field-dot.outside{background:#d9c7e9}.normal-arrow-key{color:var(--orange);font-size:22px;line-height:1}
.deploy-canvas{height:305px;width:100%}.deploy-canvas canvas{display:block;width:100%;height:100%}.deploy-phases{display:flex;gap:5px;justify-content:center;font-size:11px;color:#9b8aaa}.deploy-phases button{padding:5px 8px;border:0;background:transparent;color:inherit;font:inherit;border-radius:20px;transition:background .2s,color .2s}.deploy-phases .active{background:#e8dbf2;color:var(--purple)}.deploy-progress{height:2px;background:#e4d7ee;border-radius:2px;overflow:hidden;margin:7px 0 15px}.deploy-progress span{display:block;height:100%;background:var(--orange)}.deploy-demo .scene-bottom{font-size:11px;gap:10px}.deploy-demo .text-button{font-size:11px;white-space:nowrap}
/* One paper panel at a time keeps the research details below the visual story. */
.method-tabs{display:flex;gap:6px;flex-wrap:wrap;padding:6px;background:#f5f0f9;border:1px solid var(--line);border-radius:17px;margin-bottom:20px}.method-tabs button{flex:1;padding:13px 15px;border:0;background:transparent;border-radius:12px;color:var(--body);font-size:14px;white-space:nowrap}.method-tabs button[aria-selected=true]{background:white;color:var(--purple);box-shadow:0 2px 9px #39204e0b}.method-tabs button:hover{color:var(--purple)}.method-panel{border:1px solid var(--line);border-radius:24px;padding:32px;min-width:0}.method-panel[hidden]{display:none}.method-figure{margin:28px 0 30px;padding:20px 5px 0;background:white}.method-figure img{width:100%;height:auto}.method-figure figcaption{text-align:center;font-size:12px;color:var(--body);margin-top:22px}.method-panel .method-details{display:grid;grid-template-columns:1fr 1fr;gap:0 30px;margin-top:18px}.method-panel .method-details details{align-self:start}.method-panel .method-details summary{font-size:15px}.method-panel .method-details p{font-size:14px}.result-heading h3{margin:8px 0 12px}.result-heading>p:last-child{font-size:15px}.result-choices{margin:25px 0 20px}.method-panel .table-scroll{margin-top:20px}.method-panel table{width:100%;border-collapse:collapse;font-size:13px;font-variant-numeric:tabular-nums}.method-panel th,.method-panel td{padding:13px 12px;white-space:nowrap}.method-panel tbody th{font-weight:450;text-align:left}.method-panel caption{text-align:left;color:var(--body);font-size:12px;padding:0 0 16px;caption-side:top}.method-panel thead th{color:var(--purple);font-size:12px;font-weight:500;background:#f8f4fb}.method-panel .highlight-row{background:#f0e8f7;color:var(--purple)}.method-panel .highlight-row th,.method-panel .highlight-row td{font-weight:550}.table-note{font-size:12px;line-height:1.7;margin-top:16px;color:#81718e}.ablation-grid{display:grid;grid-template-columns:1fr 1fr;gap:26px;margin-top:16px;min-width:0}.ablation-grid>.table-scroll{min-width:0}.method-panel .figure-heading{gap:20px}.result-placeholder{color:var(--body)}
@media(max-width:900px){.ablation-grid{grid-template-columns:1fr}.method-panel{padding:24px}.method-tabs button{padding:12px 10px;font-size:13px}.method-panel .method-details{grid-template-columns:1fr}.method-panel .table-scroll{max-width:100%;overflow-x:auto}.method-panel .figure-heading{align-items:flex-start}}
@media(max-width:600px){.method-panel{padding:20px 16px;border-radius:18px}.method-tabs{gap:3px;padding:5px;border-radius:14px}.method-tabs button{flex:1 1 auto;padding:10px 8px;font-size:12px}.method-figure{margin:22px 0;padding:0}.method-figure figcaption{font-size:10px;line-height:1.7;margin-top:16px}.method-panel .figure-heading{display:block}.method-panel .figure-heading .text-link{margin-top:12px}.method-panel h3{font-size:24px}.method-panel .method-details summary{font-size:13px}.method-panel .method-details summary span{margin-right:9px}.method-panel th,.method-panel td{padding:11px 10px}.result-choices{gap:5px;flex-wrap:wrap}.result-choices .pill{padding:7px 11px;font-size:12px}.deploy-canvas{height:270px}.deploy-phases{gap:0;font-size:9px}.deploy-phases button{padding:5px 6px}.deploy-demo .scene-bottom{font-size:10px}.field-key{font-size:10px;gap:5px}.field-dot{width:7px;height:7px}}

/* One articulated task scene ties loss optimization, demonstrations and policy learning together. */
.policy-workbench{min-width:0}.workbench-top{display:flex;justify-content:space-between;align-items:center;gap:12px;color:var(--purple);font-size:12px;padding:7px 0 13px}.workbench-top output{font-size:10px;color:var(--body);white-space:nowrap;font-variant-numeric:tabular-nums}.workbench-stage{position:relative;border-radius:15px;background:linear-gradient(145deg,#fbf8fd99,#f1edf699);overflow:hidden;border:1px solid #eae1f1}.policy-canvas{width:100%;height:315px}.policy-canvas canvas{display:block;width:100%;height:100%}.workbench-badge{position:absolute;top:13px;left:13px;padding:5px 9px;border:1px solid #e5d9ee;border-radius:6px;background:#ffffffd9;color:var(--purple);font-size:10px;line-height:1.4;pointer-events:none}.workbench-annotation{position:absolute;bottom:11px;left:0;right:0;text-align:center;color:#8a729e;font-size:10px;pointer-events:none}.policy-telemetry{display:grid;grid-template-columns:1fr 1.08fr;gap:20px;margin-top:17px;min-width:0}.policy-telemetry.single{grid-template-columns:1fr}.policy-telemetry>div{min-width:0}.workbench-label{display:flex;align-items:center;justify-content:space-between;gap:8px;font-size:9px;letter-spacing:.05em;color:var(--purple);margin-bottom:11px;line-height:1.4}.workbench-label>output{font-size:16px;font-weight:500;letter-spacing:0;font-variant-numeric:tabular-nums}.workbench-label>span:last-child{letter-spacing:0}.loss-chart{width:100%;height:80px}.loss-chart text{font-size:9px;fill:#a18bb1}.loss-terms{display:flex;justify-content:space-between;gap:7px;margin-top:5px;font-size:8px;color:var(--body)}.loss-terms span{display:flex;flex-direction:column;gap:3px}.loss-terms b{font-size:10px;font-weight:450;color:var(--purple);font-variant-numeric:tabular-nums}.update-rule{font-size:12px;color:var(--purple);margin-top:8px}.joint-row{display:grid;grid-template-columns:39px 1fr 82px;align-items:center;gap:8px;min-height:29px;font-size:10px;border-bottom:1px solid #e7ddef}.joint-row>span{color:var(--body)}.joint-row output{font-size:9px;text-align:right;color:var(--purple);font-variant-numeric:tabular-nums;white-space:nowrap}.joint-bars{display:flex;gap:3px;min-width:0}.joint-bars>span{height:5px;background:#e4d8ed;flex:1;overflow:hidden;border-radius:3px}.joint-bars i{display:block;height:100%;background:var(--orange);border-radius:3px}.workbench-playback{display:flex;gap:14px;align-items:center;margin-top:14px;font-size:10px;color:#9984a9}.workbench-playback>span{margin-right:auto}.workbench-playback .text-button{font-size:10px}.workbench-timeline{display:block;height:18px!important;margin-top:2px!important}.demo-readout .episode-tabs{display:flex;gap:5px;margin:4px 0 10px;font-size:9px}.episode-tabs span{padding:4px 6px;border-radius:5px;background:#f7f2fb;color:#9783a8}.episode-tabs .active{background:#e8dbf2;color:var(--purple)}.record-rows>div{display:flex;align-items:center;gap:8px;border-bottom:1px solid #e7ddef;padding:5px 0;font-size:10px;color:#96849f}.record-rows i{width:5px;height:5px;border:1px solid #b59acb;border-radius:50%}.record-rows code{margin-left:auto;font:inherit;color:var(--purple)}.record-rows b{font-weight:400}.record-rows .recorded{color:var(--purple)}.record-rows .recorded i{background:var(--orange);border-color:var(--orange)}.demo-readout>p,.field-readout>p{font-size:10px;line-height:1.6;margin-top:10px;color:#9783a8}.network-readout>svg{width:100%;height:115px}.policy-task-steps{display:flex;align-items:center;justify-content:space-between;gap:5px;font-size:9px;color:#ac99ba}.policy-task-steps i{font-style:normal}.policy-task-steps .active{color:var(--purple)}.field-query-row{display:flex;gap:15px;align-items:center;padding:7px 0;border-bottom:1px solid #e7ddef;font-size:12px;color:var(--body)}.field-query-row>span:first-child{min-width:110px;color:var(--purple)}.field-query-row i{font-style:normal;color:var(--orange)}.compact-workbench .policy-canvas{height:280px}.compact-workbench .policy-telemetry{gap:14px}.compact-workbench .joint-row{grid-template-columns:35px 1fr 78px;gap:5px}.compact-workbench .joint-row output{font-size:8px}
@media(max-width:1050px) and (min-width:681px){.policy-layout{grid-template-columns:.75fr 1.4fr;gap:28px}.policy-telemetry{gap:12px}.joint-row{grid-template-columns:32px 1fr 72px;gap:4px;font-size:9px}.joint-row output{font-size:8px}.compact-workbench .policy-telemetry{grid-template-columns:1fr}.compact-workbench .joint-row{grid-template-columns:42px 1fr 86px}.workbench-badge{font-size:9px;max-width:90%}}
@media(max-width:600px){.policy-canvas,.compact-workbench .policy-canvas{height:280px}.policy-telemetry{grid-template-columns:1fr;gap:18px;margin-top:16px}.workbench-top{font-size:11px;align-items:flex-start;gap:8px}.workbench-top output{font-size:9px}.workbench-badge{font-size:8px;top:10px;left:8px;max-width:94%}.workbench-annotation{font-size:9px}.workbench-label{font-size:9px}.loss-chart{height:78px}.loss-terms{font-size:9px}.joint-row,.compact-workbench .joint-row{grid-template-columns:43px 1fr 90px;font-size:11px;min-height:27px}.joint-row output,.compact-workbench .joint-row output{font-size:10px}.policy-workbench .workbench-playback{gap:10px;font-size:9px}.policy-workbench .workbench-playback .text-button{font-size:10px}.demo-readout .episode-tabs{font-size:10px;justify-content:space-between}.record-rows>div{font-size:11px}.network-readout>svg{height:auto}.policy-task-steps{font-size:10px}.field-query-row{font-size:11px;gap:10px}.field-query-row>span:first-child{min-width:95px}}