:root{--ink:#192a32;--muted:#50626a;--blue:#286b7a;--paper:#f8f9f6;--line:#d7e2dc;--serif:Georgia,'Times New Roman',serif;--sans:Inter,-apple-system,BlinkMacSystemFont,'Segoe UI',sans-serif}*{box-sizing:border-box}html{scroll-behavior:smooth}body{margin:0;background:var(--paper);color:var(--ink);font:19px/1.7 var(--sans);-webkit-font-smoothing:antialiased}a{color:inherit}img,video{display:block;max-width:100%;height:auto}.container{width:min(1380px,calc(100% - 72px));margin:auto}.skip-link{position:absolute;top:-100px;left:20px;z-index:10;background:#fff;padding:12px}.skip-link:focus{top:10px}:focus-visible{outline:3px solid #25879b;outline-offset:4px}.site-header{border-bottom:1px solid rgba(25,42,50,.1);background:rgba(248,249,246,.95)}.nav-shell{width:min(1450px,calc(100% - 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solid var(--line)}.stat-strip div{padding:27px 26px;border-right:1px solid var(--line)}.stat-strip div:first-child{padding-left:0}.stat-strip div:last-child{border:0}.stat-strip strong{display:block;font:500 48px/1 var(--serif);letter-spacing:-.05em}.stat-strip span{display:block;color:var(--muted);font-size:16px;margin-top:11px}.method-section,.embodiments-section,.transfer-section{background:#fff}.steps{display:grid;grid-template-columns:repeat(3,1fr);border-top:1px solid var(--line);border-bottom:1px solid var(--line);margin-bottom:45px}.steps article{padding:27px 32px 28px 0}.steps article+article{border-left:1px solid var(--line);padding-left:32px}.step-num{font:italic 20px var(--serif);color:#69978e}.steps h3{margin:13px 0 8px}.steps p{font-size:18px;line-height:1.7;color:var(--muted);margin:0}.benchmark-section{background:#f3f6f1}.skill-list{display:flex;flex-wrap:wrap;gap:10px;margin-top:27px}.skill-list span{background:#fff;border:1px solid #dae5dd;padding:9px 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#d8e4df;background:#f6f9f7;border-radius:6px;color:#35564e;padding:8px 11px;font-size:14px;font-weight:700;cursor:pointer}.citation-top button:hover{background:#e5f0ea}.citation-box pre{margin:0;padding:21px;overflow:auto;color:#42565b;font:14px/1.7 ui-monospace,SFMono-Regular,Consolas,monospace}.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}footer{background:#192a32;color:#f0f6f3;padding:36px 0}.footer-inner{display:flex;align-items:center;justify-content:space-between;gap:30px}.footer-inner .brand-mark{background:#eaf3ee;color:#1e3437}.footer-inner p{font-size:14px;line-height:1.6;color:#c2d3cc}.footer-inner>a:last-child{font-size:15px;text-decoration:none;color:#c6d9d0}@media(max-width:850px){.container,.nav-shell,.hero-inner{width:calc(100% - 36px)}.nav-shell{min-height:68px}.site-header nav{gap:15px}.site-header nav a{font-size:13px}.site-header nav a:nth-child(2),.site-header nav a:nth-child(3){display:none}.site-header .nav-paper{padding:8px 12px}.hero{padding:55px 0 40px}.hero h1{font-size:clamp(31px,6.2vw,45px);margin:23px auto}.authors{font-size:16px}.author-break{display:none}.affiliation{font-size:15px}.hero-actions{margin:23px 0 30px}.hero-figure{padding:6px;border-radius:10px}.section{padding:72px 0}.section-heading,.citation-layout,.explorer-heading{grid-template-columns:1fr;gap:20px}.section-heading{margin-bottom:30px}.section-heading p:not(.section-label),.demo-copy p:not(.section-label),.explorer-heading>p{font-size:18px}.section-heading p.lead{font-size:20px}.affordance-demo{grid-template-columns:1fr;gap:22px}.stat-strip{grid-template-columns:repeat(2,1fr);margin-top:38px}.stat-strip div,.stat-strip div:first-child{padding:22px 15px}.stat-strip div:nth-child(2){border-right:0}.stat-strip div:nth-child(-n+2){border-bottom:1px solid var(--line)}.stat-strip strong{font-size:38px}.steps{grid-template-columns:1fr}.steps article,.steps article+article{border-left:0;padding:20px 0}.steps article+article{border-top:1px solid var(--line)}.steps h3{margin:8px 0 7px}.robot-grid{grid-template-columns:repeat(3,1fr)}.background-explorer{margin-top:45px;padding:18px}.explorer-heading h3{font-size:29px}.scene-card img{height:100px}.scene-card>span{font-size:14px;padding:7px}.real-grid{grid-template-columns:repeat(2,1fr)}.real-grid img{height:180px}.footer-inner{align-items:flex-start;flex-wrap:wrap}.footer-inner p{width:100%;order:3;margin:0}.footer-inner>a:last-child{margin-left:auto}.citation-box pre{font-size:12px;padding:15px}}@media(max-width:480px){.hero h1{font-size:30px}.eyebrow{font-size:10px}.button{font-size:14px;padding:12px 17px}.scene-picker{gap:7px}.scene-card img{height:68px}.scene-card>span{font-size:12px;padding:5px}.scene-card{border-width:2px}.robot-grid{gap:8px}.robot-grid figcaption{font-size:14px;padding:6px}.real-grid img{height:130px}}@media(prefers-reduced-motion:reduce){html{scroll-behavior:auto}.button,.scene-card{transition:none}}

.abstract-section{background:#fff;padding:78px 0}.abstract-content{max-width:1220px}.abstract-content h2{margin-bottom:24px;text-align:center}.abstract-content>p:not(.section-label){margin:0;color:var(--muted);font-size:20px;line-height:1.8}.abstract-content a{color:var(--blue);text-underline-offset:3px}@media(max-width:850px){.abstract-section{padding:60px 0}.abstract-content>p:not(.section-label){font-size:18px}}

/* Centered paper title, conference, authors and affiliations. */
.hero h1{margin:0 auto 18px;font-family:var(--sans);font-weight:700;letter-spacing:-.03em}
.hero-actions .resource-button{min-width:128px;min-height:54px;padding:12px 22px;border:0;border-radius:14px;background:#f0f0f0;color:#34414a;font-size:20px;font-weight:500}
.hero-actions .resource-button:hover{background:#e4e8e7}
.hero-actions .resource-button:focus-visible{outline:3px solid #25879b;outline-offset:3px}
.hero-actions .resource-button svg{width:21px;height:21px;flex:none;fill:currentColor}
.publication-venue{margin:0 auto 20px;color:var(--blue);font-size:clamp(20px,2vw,26px);font-weight:600;line-height:1.35}
.publication-venue span{padding:0 .12em;color:#90aaa3}
.authors{max-width:1100px;font-weight:500}
.affiliation{color:var(--ink)}
@media(max-width:850px){.hero h1{margin:0 auto 15px}.publication-venue{margin-bottom:18px;font-size:19px}}

/* Animated result panels in the original motivation figure. */
.motivation-comparison{position:relative;margin:42px auto 0;max-width:1380px}
.motivation-comparison>img{width:100%;height:auto}
.motivation-video{position:absolute;width:13.25%;height:28.2%;object-fit:cover;background:#e9e9e9}
.motivation-video.place-fail,.motivation-video.hang-fail{left:36.55%}
.motivation-video.place-success,.motivation-video.hang-success{left:84.18%}
.motivation-video.place-fail,.motivation-video.place-success{top:19.74%}
.motivation-video.hang-fail,.motivation-video.hang-success{top:61.54%}

/* Larger, readable project-page typography. */
body{font-size:21px}
.hero h1{font-size:clamp(40px,4vw,58px)}
.authors{font-size:21px}
.affiliation,.author-notes{font-size:18px}
.publication-venue{font-size:clamp(23px,2.2vw,30px)}
h2{font-size:clamp(43px,4.2vw,62px)}
.section-label{font-size:15px}
.section-heading p:not(.section-label),.explorer-heading>p,.abstract-content>p:not(.section-label){font-size:22px}
.section-heading p.lead{font-size:24px}
.steps h3,.demo-copy h3,.explorer-heading h3{font-size:38px}
.steps p,.citation-layout>div>p:not(.section-label){font-size:21px}
.robot-label{display:block;text-align:center;font-size:20px;font-weight:700;color:var(--ink);padding:12px}
@media(max-width:850px){
  body{font-size:19px}
  .hero h1{font-size:clamp(33px,6.6vw,46px)}
  .authors{font-size:18px}
  .affiliation,.author-notes{font-size:16px}
  .publication-venue{font-size:21px}
  h2{font-size:clamp(39px,8vw,54px)}
  .section-heading p:not(.section-label),.explorer-heading>p,.abstract-content>p:not(.section-label){font-size:19px}
  .section-heading p.lead{font-size:21px}
  .steps h3,.demo-copy h3,.explorer-heading h3{font-size:32px}
  .steps p,.citation-layout>div>p:not(.section-label){font-size:19px}
  .robot-label{font-size:16px;padding:8px}
}

/* Cover the small decorative sparkles with the matching unmarked source frame. */
.randomization-art{position:relative}
.randomization-art .sparkle-patch{position:absolute;width:15.7123%;height:31.8267%;max-width:none;object-fit:fill;clip-path:inset(88% 1% 1% 89%);border:0;border-radius:0;background:none;pointer-events:none}
.patch-1,.patch-3,.patch-5{left:50.1397%}
.patch-2,.patch-4,.patch-6{left:65.9218%}
.patch-1,.patch-2{top:3.9548%}
.patch-3,.patch-4{top:35.7815%}
.patch-5,.patch-6{top:67.6083%}

/* Scene and calibrated camera-view controls. */
.scene-card>span{display:flex;align-items:center;justify-content:space-between;gap:8px;font-size:18px}
.scene-card strong{font-weight:700}
.scene-card small{font-size:15px;color:var(--muted)}
.scene-picker legend,.view-picker legend{font-size:16px;font-weight:700;color:var(--muted);padding:0 0 9px}
.scene-view-header{display:flex;align-items:end;justify-content:space-between;gap:24px;margin:0 0 16px}
.scene-view-header>p{margin:0;color:var(--ink);font-size:19px;font-weight:650}
.view-picker{border:0;padding:0;margin:0;display:flex;gap:8px}
.view-picker label{display:block;position:relative;cursor:pointer}
.view-picker input{position:absolute;opacity:0;inset:0;width:100%;height:100%;margin:0;cursor:pointer}
.view-picker span{min-height:44px;display:flex;align-items:center;gap:7px;padding:9px 14px;border:2px solid #d8e3df;border-radius:9px;background:#f7faf8;color:var(--ink);font-size:16px;font-weight:700;white-space:nowrap}
.view-picker small{font-size:14px;font-weight:500;color:var(--muted)}
.view-picker input:checked+span{border-color:#318083;background:#eaf4ef}
.view-picker input:focus-visible+span{outline:3px solid #25879b;outline-offset:3px}
@media(max-width:850px){
  .scene-view-header{display:block}
  .scene-view-header>p{margin-bottom:14px;font-size:18px}
  .scene-card>span{display:block;font-size:15px}
  .scene-card small{display:block;font-size:13px}
}
@media(max-width:480px){
  .view-picker{gap:6px}
  .view-picker label{flex:1}
  .view-picker span{justify-content:center;padding:8px 4px;font-size:14px;gap:4px}
  .view-picker small{font-size:12px}
}

/* Align section descriptions with the heading, below the section label. */
@media(min-width:851px){
  .section-heading > :nth-child(2){padding-top:calc(15px * 1.7 + 17px)}
}

/* Skill buttons highlight their corresponding cells in the task animation. */
.benchmark-figure{position:relative}
.benchmark-image-grid{display:grid;grid-template-columns:repeat(10,minmax(0,1fr));width:100%;overflow:hidden;border-radius:12px;background:#152126}
.wide-figure .benchmark-image-grid img{display:block;width:100%;height:auto;aspect-ratio:4/3;object-fit:contain;border:0;border-radius:0}
.task-highlight-grid{position:absolute;inset:0;display:grid;grid-template-columns:repeat(10,1fr);grid-template-rows:repeat(5,1fr);border-radius:12px}
.task-highlight-cell{position:relative;min-width:0;padding:0;border:0;background:transparent;cursor:pointer;transition:background-color .18s,box-shadow .18s}
.task-highlight-cell::after{content:attr(data-label);position:absolute;left:50%;bottom:calc(100% + 5px);z-index:4;display:none;width:max-content;max-width:min(240px,80vw);padding:7px 10px;border-radius:6px;background:#192a32;color:#fff;font:600 14px/1.35 var(--sans);text-align:left;overflow-wrap:anywhere;transform:translateX(-50%);pointer-events:none;box-shadow:0 2px 8px #0003}
.task-highlight-cell:hover::after,.task-highlight-cell:focus-visible::after,.task-highlight-cell.is-inspected::after{display:block}
.task-highlight-cell:nth-child(10n+1)::after{left:0;transform:none}
.task-highlight-cell:nth-child(10n)::after{left:auto;right:0;transform:none}
.task-highlight-cell:focus-visible{z-index:2;outline-offset:-3px}
.task-highlight-grid.is-filtering .task-highlight-cell:not(.is-match){background:rgba(13,25,30,.66)}
.task-highlight-grid.is-filtering .task-highlight-cell.is-match{box-shadow:inset 0 0 0 4px var(--skill-color);background:transparent}
.skill-list button{display:inline-flex;align-items:center;gap:8px;background:#fff;border:1px solid #d2e0da;padding:10px 17px;border-radius:100px;font:650 17px/1.4 var(--sans);color:var(--ink);cursor:pointer;transition:background .18s,color .18s,border-color .18s}
.skill-list button::before{content:'';width:10px;height:10px;border-radius:50%;background:var(--skill-color);flex:none}
.skill-list button[aria-pressed=true]{background:var(--skill-color);border-color:var(--skill-color);color:#fff}
.skill-list button[aria-pressed=true]::before{background:#fff}
.skill-list button:hover{border-color:var(--skill-color)}
@media(max-width:850px){.task-highlight-grid.is-filtering .task-highlight-cell.is-match{box-shadow:inset 0 0 0 2px var(--skill-color)}.skill-list button{font-size:16px;padding:9px 13px}}
@media(prefers-reduced-motion:reduce){.task-highlight-cell,.skill-list button{transition:none}}

/* Benchmark difficulty tiers use the definitions in the paper. */
.difficulty-summary>p{margin:0 0 17px!important}
.difficulty-list{list-style:none;padding:0;margin:0;display:grid;gap:12px}
.difficulty-list li{display:grid;grid-template-columns:155px 1fr;gap:14px;align-items:start;font-size:19px;line-height:1.5;color:var(--muted)}
.difficulty-list strong{display:inline-block;border-radius:7px;padding:4px 8px;font-size:16px;line-height:1.45;white-space:nowrap}
.tier-easy{background:#dcefe2;color:#23603b}.tier-medium{background:#fff0cc;color:#805208}.tier-hard{background:#f7dede;color:#8d3434}
@media(max-width:480px){.difficulty-list li{grid-template-columns:1fr;gap:5px;font-size:18px}.difficulty-list strong{justify-self:start}}

/* Three reconstructed scenes above three independent, compact videos. */
.reconstruction-grid,.scene-video-grid{display:grid;grid-template-columns:repeat(3,minmax(0,1fr));gap:20px}
.reconstruction-grid{margin-bottom:28px}
.reconstruction-card,.scene-demo{min-width:0}
.reconstruction-card h4,.scene-demo h4{font-size:20px;line-height:1.3;margin:0 0 10px;color:var(--ink)}
.pointcloud-viewer{width:100%;aspect-ratio:4/3;overflow:hidden;border:1px solid #d9e6df;border-radius:10px;background:#edf2ef}
.scene-demo{padding-top:18px;border-top:1px solid var(--line)}
.scene-demo .scene-task{font-size:16px;line-height:1.4;margin:0 0 14px;min-height:2.8em;color:var(--muted)}
.scene-demo .view-picker{margin-bottom:12px;gap:5px}
.scene-demo .view-picker label{flex:1;min-width:0}
.scene-demo .view-picker span{justify-content:center;min-height:40px;padding:7px 3px;gap:4px;font-size:13px}
.scene-demo .view-picker small{font-size:11px}
.scene-demo .scene-video video{width:100%;aspect-ratio:4/3;max-height:none;object-fit:contain}
@media(max-width:850px){.reconstruction-grid,.scene-video-grid{gap:12px}.reconstruction-card h4,.scene-demo h4{font-size:17px}.scene-demo .view-picker span{font-size:12px}.scene-demo .view-picker small{display:none}}
@media(max-width:600px){.reconstruction-grid,.scene-video-grid{grid-template-columns:1fr;gap:20px}.scene-demo .scene-task{min-height:0}.scene-demo .view-picker span{font-size:14px}.scene-demo .view-picker small{display:inline;font-size:12px}}

/* Align the tier badge with the first line of its description. */
.difficulty-list strong{padding:0 8px;line-height:28.5px}

/* Give the main section summaries greater prominence. */
#overview .section-heading p.lead{font-size:28px;line-height:1.5}
#method .section-heading>p,
#benchmark .difficulty-summary>p{font-size:26px;line-height:1.55}
@media(min-width:1280px){
  #benchmark .section-heading{grid-template-columns:minmax(0,.66fr) minmax(0,1.34fr);gap:48px}
  #benchmark .difficulty-list li:nth-child(2)>span{white-space:nowrap}
}
@media(min-width:851px) and (max-width:1279px){
  #benchmark .section-heading{grid-template-columns:1fr;gap:20px}
  #benchmark .section-heading>.difficulty-summary{padding-top:0}
}
@media(max-width:850px){
  #overview .section-heading p.lead{font-size:23px}
  #method .section-heading>p,
  #benchmark .difficulty-summary>p{font-size:21px}
}

/* Difficulty controls keep their labels centered and select their own explanation. */
.difficulty-button{display:inline-flex;align-items:center;justify-content:center;width:100%;height:28.5px;padding:0 8px;border:2px solid transparent;border-radius:7px;font:700 16px/1.2 var(--sans);text-align:center;white-space:nowrap;cursor:pointer}
.difficulty-button.tier-easy[aria-pressed=true]{border-color:#23603b}
.difficulty-button.tier-medium[aria-pressed=true]{border-color:#805208}
.difficulty-button.tier-hard[aria-pressed=true]{border-color:#8d3434}
.difficulty-list li.is-selected>span{color:var(--ink);font-weight:600}
@media(max-width:480px){.difficulty-button{justify-self:start;width:155px}}

/* Keep the page background white across all sections. */
:root{--paper:#fff}
.site-header,.hero,.section,footer{background:#fff}
footer{color:var(--ink);border-top:1px solid var(--line)}
.footer-inner p,.footer-inner>a:last-child{color:var(--muted)}

/* Preserve the requested single-line description on narrow screens, too. */
.difficulty-nowrap{display:block;max-width:100%;overflow-x:auto;white-space:nowrap;scrollbar-width:thin}
.difficulty-nowrap::-webkit-scrollbar{height:4px}
.difficulty-nowrap::-webkit-scrollbar-thumb{background:#a8bfba;border-radius:4px}

/* Compact section rhythm and align the transfer summary with the page grid. */
.section{padding:60px 0}
.hero h1{max-width:1380px;font-size:clamp(27px,3.2vw,48px)}
.result-note{max-width:none;text-align:justify}
@media(max-width:850px){
  .section{padding:44px 0}
  .hero h1{font-size:clamp(30px,6vw,44px)}
  .title-break{display:none}
}

/* Author and affiliation markers follow the paper's affiliation notation. */
.authors{max-width:1250px;font-size:24px;line-height:1.65}
.affiliation{font-size:20px}
@media(max-width:850px){
  .authors{font-size:19px}
  .affiliation{font-size:17px}
}