:root {
  color-scheme: light;
  --ink: #202124;
  --muted: #5f6368;
  --soft: #f7f8fa;
  --paper: #ffffff;
  --line: #d8dde6;
  --blue: #2463eb;
  --green: #16815f;
  --orange: #d76b2f;
  --violet: #6b4bd8;
  --shadow: 0 22px 55px rgba(32, 33, 36, 0.12);
}

* {
  box-sizing: border-box;
}

.sr-only {
  position: absolute;
  width: 1px;
  height: 1px;
  padding: 0;
  margin: -1px;
  overflow: hidden;
  clip: rect(0, 0, 0, 0);
  white-space: nowrap;
  border: 0;
}

html {
  scroll-behavior: smooth;
}

body {
  margin: 0;
  background: var(--paper);
  color: var(--ink);
  font-family: Palatino, "Palatino Linotype", "Book Antiqua", Georgia, serif;
  line-height: 1.58;
}

.scroll-progress {
  position: fixed;
  top: 0;
  left: 0;
  z-index: 1000;
  width: 100%;
  height: 4px;
  background: #1f9d55;
  transform: scaleX(0);
  transform-origin: left center;
}

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

.site-header {
  padding: 46px 20px 20px;
  border-bottom: 1px solid var(--line);
  background: #fff;
}

.hero {
  max-width: 1100px;
  margin: 0 auto;
  text-align: center;
}

h1,
h2,
h3,
p {
  margin-top: 0;
}

h1 {
  max-width: 1100px;
  margin: 0 auto 20px;
  font-size: clamp(1.84rem, 3.67vw, 3.29rem);
  font-weight: 500;
  line-height: 1.08;
  letter-spacing: 0;
}

.authors {
  margin-bottom: 8px;
  color: var(--muted);
  font-size: 1.55rem;
}

.affiliations {
  margin-bottom: 8px;
  color: var(--muted);
  font-size: 1.18rem;
}

.authors sup,
.affiliations sup {
  font-size: 0.68em;
}

.authors a {
  color: var(--blue);
}

.link-row {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 17px;
  margin: 32px 0 34px;
}

.project-link {
  display: inline-flex;
  align-items: center;
  justify-content: center;
  gap: 13px;
  min-width: 157px;
  min-height: 64px;
  padding: 0 24px;
  border: 1px solid #d6dbe5;
  border-radius: 999px;
  background: #fff;
  color: #252932;
  font-size: 1.4rem;
  font-weight: 400;
  box-shadow: 0 8px 18px rgba(32, 33, 36, 0.1);
}

.project-link.hf-link {
  gap: 10px;
  min-width: 152px;
  min-height: 51px;
  padding: 0 19px;
  font-size: 1.12rem;
}

.project-link.hf-link .icon {
  width: 27px;
  height: 27px;
}

.project-link.hf-link .icon img {
  width: 17px;
  height: 17px;
}

.project-link:hover {
  border-color: #aab4c3;
  transform: translateY(-1px);
}

.project-link.disabled {
  opacity: 0.72;
  cursor: not-allowed;
}

.icon {
  display: inline-flex;
  align-items: center;
  justify-content: center;
  width: 34px;
  height: 34px;
  border-radius: 999px;
  background: #eef3ff;
  color: var(--blue);
}

.icon img {
  display: block;
  width: 21px;
  height: 21px;
}

.section {
  position: relative;
  max-width: 1100px;
  margin: 0 auto;
  padding: 45px 22px;
}

.section + .section::before {
  content: "";
  position: absolute;
  top: 0;
  left: 22px;
  right: 22px;
  height: 1px;
  background:
    linear-gradient(
      90deg,
      transparent 0%,
      rgba(32, 33, 36, 0.12) 18%,
      rgba(36, 99, 235, 0.38) 50%,
      rgba(32, 33, 36, 0.12) 82%,
      transparent 100%
    );
}

.section + .section::after {
  content: "";
  position: absolute;
  top: -2px;
  left: 50%;
  width: 64px;
  height: 5px;
  border-radius: 999px;
  background: linear-gradient(90deg, rgba(36, 99, 235, 0), rgba(36, 99, 235, 0.48), rgba(36, 99, 235, 0));
  transform: translateX(-50%);
}

.section.narrow {
  max-width: 820px;
}

.section h2 {
  margin-bottom: 18px;
  text-align: center;
  font-size: clamp(1.98rem, 3.37vw, 2.97rem);
  font-weight: 500;
  line-height: 1.12;
}

.subsection-title {
  margin-bottom: 14px;
  text-align: center;
  font-size: clamp(1.34rem, 2.38vw, 1.88rem);
  font-weight: 500;
  line-height: 1.18;
}

.section p {
  color: var(--muted);
  font-size: 1.31rem;
  text-align: justify;
  text-justify: inter-word;
}

.section-lede {
  max-width: 100%;
  margin: 0 auto 28px;
}

.teaser-section {
  padding-top: 24px;
}

.teaser-lede {
  max-width: 980px;
  margin-bottom: 18px;
}

.paper-figure {
  margin: 0;
  overflow: visible;
  background: #fff;
}

.paper-figure img {
  display: block;
  width: 100%;
  height: auto;
  background: #fff;
}

.paper-figure figcaption {
  padding: 14px 18px 16px;
  color: var(--muted);
  font-size: 1.2rem;
  line-height: 1.45;
  text-align: justify;
  text-justify: inter-word;
}

.hero-figure {
  max-width: 980px;
  margin: 0 auto;
}

.full-figure {
  max-width: 100%;
  margin: 0 auto 18px;
}

.medium-figure {
  max-width: 980px;
  margin: 0 auto 18px;
}

.policy-eval-figure {
  max-width: 825px;
  margin: 0 auto 18px;
}

.small-figure {
  max-width: 680px;
  margin: 0 auto 18px;
}

.result-section {
  padding-top: 21px;
}

.video-block {
  margin-top: 26px;
}

.video-controls {
  display: flex;
  flex-direction: column;
  align-items: center;
  justify-content: center;
  gap: 10px;
  margin-bottom: 18px;
}

.video-controls.compact-control {
  margin-bottom: 0;
}

.video-label {
  color: var(--ink);
  font-size: 1.18rem;
  font-weight: 700;
}

.task-select {
  padding: 8px 36px 8px 14px;
  border: 1px solid var(--line);
  border-radius: 999px;
  background: #fff;
  color: var(--ink);
  font-family: inherit;
  font-size: 1.1rem;
  font-weight: 500;
  cursor: pointer;
  appearance: none;
  background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 24 24' fill='none' stroke='%235f6368' stroke-width='2'%3E%3Cpath d='M6 9l6 6 6-6'/%3E%3C/svg%3E");
  background-repeat: no-repeat;
  background-position: right 12px center;
  background-size: 16px;
}

.task-select:hover {
  border-color: #aab4c3;
}

.task-select-hidden {
  display: none;
}

.task-tabs {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 8px;
}

.task-tab {
  border: 1px solid var(--line);
  border-radius: 999px;
  background: rgba(255, 255, 255, 0.86);
  color: var(--muted);
  font-family: inherit;
  font-size: 1.25rem;
  font-weight: 500;
  line-height: 1;
  padding: 11px 20px;
  cursor: pointer;
  transition:
    background 160ms ease,
    border-color 160ms ease,
    color 160ms ease,
    transform 160ms ease;
}

.task-tab:hover {
  border-color: #aab4c3;
  color: var(--ink);
  transform: translateY(-1px);
}

.task-tab.active {
  border-color: var(--ink);
  background: var(--ink);
  color: #fff;
}

.task-tab:focus-visible {
  outline: 2px solid var(--blue);
  outline-offset: 3px;
}

.video-figure video {
  display: block;
  width: 100%;
  height: auto;
  border-radius: 8px;
  background: #000;
}

.video-wrap {
  display: flex;
  align-items: stretch;
  gap: 6px;
}

.video-wrap video {
  display: block;
  flex: 1 1 auto;
  width: 100%;
  height: auto;
  border-radius: 8px;
  background: #000;
}

.row-labels {
  display: flex;
  flex: 0 0 auto;
  flex-direction: column;
}

.row-label {
  display: flex;
  flex: 1 1 0;
  align-items: center;
  justify-content: center;
  color: var(--muted);
  font-family: inherit;
  font-size: 1.15rem;
  font-weight: 400;
  letter-spacing: 0.02em;
  writing-mode: vertical-rl;
  transform: rotate(180deg);
}

.row-label sub {
  font-size: 0.65em;
  line-height: 0;
  position: relative;
  top: 0.28em;
}

.row-label .pi-symbol {
  font-size: 1.2em;
}

.video-grid {
  display: grid;
  grid-template-columns: minmax(0, 3fr) minmax(0, 2fr) minmax(0, 2fr);
  gap: 16px;
  align-items: start;
}

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

.policy-eval-comparison-figure {
  max-width: none;
  width: 100%;
  margin: 0 auto;
}

.world-model-eval-videos {
  margin-top: 30px;
}

.world-model-controls {
  display: grid;
  gap: 10px;
  margin-bottom: 18px;
}

.world-model-task-row {
  display: flex;
  flex-direction: column;
  align-items: center;
  justify-content: center;
  gap: 10px;
}

.world-model-task-row .compact-control {
  flex: 0 0 auto;
}

.world-model-task-row .compact-control[hidden] {
  display: none;
}

.world-model-dataset-control {
  padding-bottom: 9px;
  border-bottom: 1px solid var(--line);
}

.world-model-controls .task-tabs {
  gap: 6px;
}

.world-model-controls .task-tab {
  padding: 8px 13px;
  font-size: 0.98rem;
}

.world-model-dataset-control .task-tab {
  padding-inline: 12px;
  font-size: 0.9rem;
}

.world-model-nfe-control {
  justify-self: center;
}

.world-model-nfe-control .task-tab {
  padding: 7px 13px;
  font-size: 0.92rem;
}

.world-model-video-figure {
  max-width: none;
  width: 75%;
  margin: 0 auto;
}

.policy-finetuning-panel {
  display: grid;
  grid-template-columns: minmax(0, 1.6fr) minmax(240px, 0.7fr);
  gap: 20px;
  align-items: center;
}

.policy-finetuning-video-figure {
  align-self: center;
}

.policy-finetuning-plot-figure {
  align-self: center;
  margin-bottom: 0;
}

.policy-finetuning-plot-figure img {
  width: 100%;
  max-height: 300px;
  object-fit: contain;
}

.tts-panel {
  margin-top: 26px;
}

.tts-overview-panel {
  display: grid;
  grid-template-columns: minmax(0, 1.6fr) minmax(240px, 0.7fr);
  gap: 20px;
  align-items: center;
}

.tts-video-figure {
  align-self: center;
  justify-self: center;
  width: 100%;
}

.tts-plot-figure {
  align-self: center;
  margin-bottom: 0;
}

.tts-plot-figure img {
  width: 100%;
  max-height: 300px;
  object-fit: contain;
}

.tts-chunk-figure {
  max-width: none;
  width: 100%;
  margin: 0 auto;
}

.tts-chunk-wrap {
  display: flex;
  align-items: stretch;
  gap: 8px;
}

.sample-labels {
  display: flex;
  flex: 0 0 auto;
  flex-direction: column;
}

.sample-label {
  display: flex;
  flex: 1 1 0;
  align-items: center;
  justify-content: center;
  color: var(--muted);
  font-size: 0.95rem;
  font-weight: 700;
}

.tts-chunk-figure img {
  display: block;
  flex: 1 1 auto;
  width: 100%;
  height: auto;
  border-radius: 8px;
  background: #000;
}

.tts-video-figure figcaption,
.tts-chunk-figure figcaption {
  padding: 10px 6px 0;
  text-align: center;
  font-size: 1.04rem;
  line-height: 1.4;
}

.tts-slider-row {
  display: flex;
  align-items: center;
  gap: 14px;
  max-width: 760px;
  margin: 22px auto 0;
}

.tts-slider-label {
  color: var(--ink);
  font-size: 1.12rem;
  font-weight: 700;
}

.tts-slider {
  flex: 1 1 auto;
  height: 6px;
  border-radius: 999px;
  background: var(--line);
  appearance: none;
  cursor: pointer;
}

.tts-slider::-webkit-slider-thumb {
  appearance: none;
  width: 20px;
  height: 20px;
  border: 2px solid #fff;
  border-radius: 999px;
  background: var(--blue);
  box-shadow: 0 2px 6px rgba(32, 33, 36, 0.3);
  cursor: pointer;
}

.tts-slider::-moz-range-thumb {
  width: 20px;
  height: 20px;
  border: 2px solid #fff;
  border-radius: 999px;
  background: var(--blue);
  box-shadow: 0 2px 6px rgba(32, 33, 36, 0.3);
  cursor: pointer;
}

.tts-slider-value {
  min-width: 2.2em;
  padding: 4px 10px;
  border-radius: 6px;
  background: var(--soft);
  color: var(--ink);
  font-size: 1.05rem;
  font-weight: 700;
  text-align: center;
}

.video-grid .video-figure figcaption {
  padding: 10px 6px 0;
  text-align: center;
  color: var(--muted);
  font-size: 1.12rem;
  font-weight: 700;
}

.downstream-applications .section-lede {
  margin-bottom: 24px;
}

.application-block {
  position: relative;
  margin-top: 17px;
}

.application-block + .application-block {
  margin-top: 44px;
  padding-top: 38px;
}

.application-block + .application-block::before {
  content: "";
  position: absolute;
  top: 0;
  left: 8%;
  right: 8%;
  height: 1px;
  background:
    linear-gradient(
      90deg,
      transparent,
      rgba(32, 33, 36, 0.16) 18%,
      rgba(32, 33, 36, 0.34) 50%,
      rgba(32, 33, 36, 0.16) 82%,
      transparent
    );
}

.application-block h3 {
  margin-bottom: 10px;
  text-align: center;
  font-size: clamp(1.34rem, 2.38vw, 1.88rem);
  font-weight: 700;
  line-height: 1.18;
}

.application-block p {
  margin-bottom: 18px;
}

.method-copy {
  margin-top: 24px;
}

.method-prose {
  display: grid;
  gap: 16px;
  margin-top: 18px;
}

.method-prose p {
  margin-bottom: 0;
  padding: 20px 22px;
  border-left: 5px solid #9aa3af;
  border-radius: 8px;
  background: #f3f4f6;
}

.method-prose strong {
  color: var(--ink);
}

.figure-grid {
  display: grid;
  gap: 18px;
}

.figure-grid.single {
  max-width: 760px;
  margin: 0 auto;
}

.figure-grid.two {
  grid-template-columns: minmax(0, 1.1fr) minmax(0, 0.9fr);
  align-items: start;
}

.figure-grid.three {
  grid-template-columns: repeat(2, minmax(0, 1fr));
  align-items: start;
}

.teaser {
  position: relative;
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 12px;
  overflow: hidden;
  min-height: 420px;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: #eaf1f6;
  box-shadow: var(--shadow);
}

.teaser-view {
  position: relative;
  min-height: 360px;
  overflow: hidden;
  background:
    linear-gradient(160deg, rgba(255, 255, 255, 0.7), transparent 45%),
    linear-gradient(180deg, #dde8f2 0%, #f8f3ec 100%);
}

.view-b {
  background:
    linear-gradient(145deg, rgba(255, 255, 255, 0.72), transparent 48%),
    linear-gradient(180deg, #e5edf8 0%, #f7efe5 100%);
}

.viewport-label {
  position: absolute;
  top: 16px;
  left: 16px;
  z-index: 3;
  padding: 5px 9px;
  border-radius: 999px;
  background: rgba(255, 255, 255, 0.82);
  color: var(--muted);
  font-size: 0.82rem;
  font-weight: 700;
}

.robot-arm {
  position: absolute;
  right: 26%;
  bottom: 78px;
  width: 210px;
  height: 34px;
  border-radius: 999px;
  background: linear-gradient(90deg, #c3ccd8, #6f7c89);
  transform: rotate(-28deg);
  transform-origin: right center;
  box-shadow: 0 10px 22px rgba(32, 33, 36, 0.2);
}

.robot-arm::before,
.robot-arm::after {
  content: "";
  position: absolute;
  border-radius: 999px;
  background: #3f4b59;
}

.robot-arm::before {
  right: -8px;
  top: -8px;
  width: 54px;
  height: 54px;
}

.robot-arm::after {
  left: -22px;
  top: 5px;
  width: 70px;
  height: 24px;
  background: #2d3640;
}

.robot-arm.alt {
  right: 18%;
  bottom: 112px;
  transform: rotate(-42deg);
}

.object {
  position: absolute;
  left: 24%;
  bottom: 86px;
  z-index: 2;
  box-shadow: 0 12px 24px rgba(32, 33, 36, 0.18);
}

.object.block {
  width: 92px;
  height: 76px;
  border-radius: 10px;
  background: linear-gradient(135deg, var(--orange), #f3b24d);
}

.object.cup {
  width: 78px;
  height: 88px;
  border-radius: 0 0 20px 20px;
  background: linear-gradient(135deg, var(--green), #72c8a8);
}

.object.cup::after {
  content: "";
  position: absolute;
  right: -26px;
  top: 22px;
  width: 32px;
  height: 34px;
  border: 8px solid #4da988;
  border-left: 0;
  border-radius: 0 18px 18px 0;
}

.latent-grid {
  position: absolute;
  inset: auto 22px 18px;
  height: 58px;
  border-top: 1px solid rgba(95, 99, 104, 0.25);
  background-image:
    linear-gradient(90deg, rgba(36, 99, 235, 0.2) 1px, transparent 1px),
    linear-gradient(rgba(36, 99, 235, 0.14) 1px, transparent 1px);
  background-size: 24px 24px;
}

.rollout-strip {
  grid-column: 1 / -1;
  display: grid;
  grid-template-columns: repeat(6, minmax(0, 1fr));
  gap: 10px;
  padding: 16px;
  background: #fff;
  border-top: 1px solid var(--line);
}

.rollout-strip span {
  display: grid;
  place-items: center;
  min-height: 42px;
  border: 1px solid var(--line);
  border-radius: 6px;
  color: var(--muted);
  font-weight: 800;
  background: var(--soft);
}

.teaser-caption {
  max-width: 920px;
  margin: 22px auto 0;
  text-align: center;
  color: var(--ink);
  font-family: inherit;
  font-size: clamp(1.18rem, 2.2vw, 1.55rem);
  font-weight: 500;
  line-height: 1.38;
}

.method-figure {
  display: grid;
  grid-template-columns: 1fr auto 1fr auto 1fr auto 1fr;
  align-items: center;
  gap: 14px;
  margin: 34px 0;
  padding: 22px;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: var(--soft);
}

.method-stage {
  min-height: 172px;
  padding: 18px;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: #fff;
}

.stage-title {
  display: block;
  margin-bottom: 16px;
  font-weight: 800;
}

.mini-frames {
  display: grid;
  grid-template-columns: repeat(3, 1fr);
  gap: 8px;
}

.mini-frames span {
  height: 88px;
  border-radius: 6px;
  background: linear-gradient(160deg, #dfe9f5, #f4c27d);
}

.mini-frames.predicted span {
  background: linear-gradient(160deg, #dbe7ff, #79c8a7);
}

.latent-cloud,
.score-bars {
  display: flex;
  align-items: end;
  gap: 10px;
  min-height: 96px;
}

.latent-cloud span {
  width: 28px;
  height: 28px;
  border-radius: 999px;
  background: var(--blue);
  opacity: 0.75;
}

.latent-cloud span:nth-child(2) {
  height: 48px;
  background: var(--violet);
}

.latent-cloud span:nth-child(3) {
  height: 66px;
  background: var(--green);
}

.latent-cloud span:nth-child(4) {
  height: 40px;
  background: var(--orange);
}

.score-bars span {
  width: 34px;
  border-radius: 6px 6px 0 0;
  background: var(--green);
}

.score-bars span:nth-child(1) {
  height: 42px;
}

.score-bars span:nth-child(2) {
  height: 76px;
}

.score-bars span:nth-child(3) {
  height: 58px;
}

.arrow {
  color: var(--muted);
  font-size: 1.8rem;
}

.feature-list {
  display: grid;
  grid-template-columns: repeat(3, minmax(0, 1fr));
  gap: 14px;
  max-width: 980px;
  margin: 22px auto 0;
}

.feature-list article {
  padding: 18px;
  border-left: 4px solid;
  border-radius: 8px;
}

.feature-list article:nth-child(1) {
  border-color: #a78bfa;
  background: #f3efff;
}

.feature-list article:nth-child(2) {
  border-color: #edae34;
  background: #fff6df;
}

.feature-list article:nth-child(3) {
  border-color: #51bf75;
  background: #eefaf1;
}

.feature-list h3 {
  margin-bottom: 6px;
  font-family: inherit;
  font-size: 1.04rem;
  font-weight: 800;
}

.feature-list p {
  font-size: 1.18rem;
  line-height: 1.45;
}

.feature-list h3 {
  text-align: center;
}

pre {
  overflow-x: auto;
  margin: 0;
  padding: 22px;
  border-radius: 8px;
  background: #22252b;
  color: #f1f4f8;
}

code {
  font-family: "SFMono-Regular", Consolas, "Liberation Mono", monospace;
  font-size: 0.94em;
}

pre code {
  font-size: 0.94rem;
}

.footer {
  padding: 34px 20px;
  border-top: 1px solid var(--line);
  color: var(--muted);
  text-align: center;
}

.footer p {
  max-width: 880px;
  margin: 0 auto;
}

@media (max-width: 900px) {
  .method-figure {
    grid-template-columns: 1fr;
  }

  .arrow {
    transform: rotate(90deg);
    justify-self: center;
  }

  .feature-list,
  .figure-grid.two,
  .figure-grid.three {
    grid-template-columns: repeat(2, minmax(0, 1fr));
  }

}

@media (max-width: 680px) {
  .site-header {
    padding-top: 16px;
  }

  h1 {
    font-size: 1.91rem;
  }

  .teaser {
    grid-template-columns: 1fr;
    min-height: 0;
  }

  .teaser-view {
    min-height: 260px;
  }

  .robot-arm {
    width: 165px;
    right: 18%;
  }

  .object {
    left: 18%;
  }

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

  .video-grid {
    grid-template-columns: 1fr;
  }

  .policy-finetuning-panel,
  .tts-overview-panel {
    grid-template-columns: 1fr;
  }

  .tts-video-figure {
    width: 100%;
  }

  .world-model-video-figure {
    width: 100%;
  }

  .feature-list,
  .figure-grid.two,
  .figure-grid.three {
    grid-template-columns: 1fr;
  }

  .section {
    padding: 34px 18px;
  }
}