/* =========================================================================
   DODGER project page
   ========================================================================= */

:root {
  --green: #009E73;
  --green-dark: #008461;
  --green-soft: #CFE9DF;
  --band-mint: #F2FAF7;
  --title-main: #F1FFF9;
  --title-sub: #D7F5E8;

  --text: #1E2925;
  --text-soft: #3A4843;
  --muted: #62716B;
  --line: #DCE8E3;

  --gutter: 24px;
  --container: 1120px;
  --prose: 880px;
  --wide: 1400px;
  --radius: 12px;
}

*,
*::before,
*::after { box-sizing: border-box; }

html {
  -webkit-text-size-adjust: 100%;
  text-size-adjust: 100%;
}
html.no-scroll { overflow: hidden; }

body {
  margin: 0;
  background: #fff;
  color: var(--text);
  font-family: 'Open Sans', system-ui, -apple-system, 'Segoe UI', Roboto, 'Helvetica Neue', Arial, sans-serif;
  font-size: 17px;
  line-height: 1.7;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
}

img, video { display: block; max-width: 100%; }
video { background: #0F1714; }
a { color: var(--green-dark); }

/* =========================================================================
   Hero
   ========================================================================= */

.hero {
  position: relative;
  height: 100vh;
  height: 100svh;
  min-height: 420px;
  overflow: hidden;
  background: #1A1F1D;
}

.hero-video {
  position: absolute;
  inset: 0;
  width: 100%;
  height: 100%;
  object-fit: cover;
  background: transparent;
}

/* Centered by default; main.js shifts it so it stays in the middle of the
   visible part of the video and never gets closer than a small gap to the
   video's bottom edge. */
.hero-title {
  position: absolute;
  left: 0;
  right: 0;
  top: 50%;
  transform: translate3d(0, -50%, 0);
  padding-inline: var(--gutter);
  text-align: center;
  pointer-events: none;
  will-change: transform;
}

.hero-title h1 {
  --sub: clamp(1.25rem, calc((100vw - 2 * var(--gutter)) / 22.8), 3.5rem);
  margin: 0;
  font-weight: 700;
  letter-spacing: -0.005em;
  text-shadow: 0 2px 16px rgba(0, 0, 0, 0.28), 0 1px 3px rgba(0, 0, 0, 0.22);
  transition: opacity 0.5s ease;
}
/* main.js adds .fonts-ready once Open Sans has loaded (or after a timeout); the
   animation shows the title anyway if main.js never runs. */
.js:not(.fonts-ready) .hero-title h1 {
  opacity: 0;
  animation: title-failsafe 0s 3s forwards;
}
@keyframes title-failsafe { to { opacity: 1; } }

.hero-title .t-main {
  display: block;
  color: var(--title-main);
  font-size: max(calc(var(--sub) * 1.43), 2.975rem);
  line-height: 1.12;
  margin-bottom: 0.12em;
}

.hero-title .t-sub {
  display: block;
  color: var(--title-sub);
  font-size: var(--sub);
  line-height: 1.26;
  text-wrap: balance;   /* only matters if a line has to wrap (fallback font, large text) */
}

/* =========================================================================
   Layout: alternating bands
   ========================================================================= */

.band {
  padding: 76px var(--gutter);
  background: #fff;
}
.band--mint { background: var(--band-mint); }

.container {
  max-width: var(--container);
  margin-inline: auto;
}
.prose {
  max-width: var(--prose);
  margin-inline: auto;
}
.wide {
  max-width: var(--wide);
  margin-inline: auto;
}

.prose p,
.lead {
  margin: 0 0 1.1em;
  color: var(--text-soft);
  text-align: justify;
  hyphens: auto;
  -webkit-hyphens: auto;
}
.prose p:last-child { margin-bottom: 0; }

.lead {
  max-width: var(--prose);
  margin: 0 auto 40px;
}

.nowrap { white-space: nowrap; }

/* ---- Headings ---- */

.eyebrow {
  margin: 0 0 6px;
  text-align: center;
  color: var(--green);
  font-size: 0.8rem;
  font-weight: 700;
  letter-spacing: 0.16em;
  text-transform: uppercase;
}

.section-title {
  margin: 0 0 40px;
  text-align: center;
  color: var(--text);
  font-size: 2rem;
  font-weight: 700;
  line-height: 1.25;
}
.section-title::after {
  content: "";
  display: block;
  width: 44px;
  height: 3px;
  margin: 16px auto 0;
  border-radius: 2px;
  background: var(--green);
}

/* =========================================================================
   Authors, links, intro video
   ========================================================================= */

.meta {
  padding-top: 44px;
  text-align: center;
}

.authors {
  margin: 0;
  color: var(--text);
  font-size: 1.3rem;
  line-height: 1.6;
}
.authors .author { white-space: nowrap; }
.authors,
.affiliations { text-wrap: balance; }
.authors sup,
.affiliations sup,
.author-notes sup {
  font-size: 0.62em;
  line-height: 0;
  margin-left: 1px;
}
.affiliations {
  margin: 6px 0 0;
  color: var(--text-soft);
  font-size: 1.08rem;
  line-height: 1.6;
}
.affiliations span { white-space: nowrap; }
.author-notes {
  margin: 6px 0 0;
  color: var(--muted);
  font-size: 0.9rem;
}

.links {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 14px;
  margin-top: 24px;
}
a.btn-pill:not([href]) { pointer-events: none; }   /* placeholder link (href="" in the HTML): fill in its URL */

/* "Related Research" dropdown */
.related { position: relative; }
.related summary { list-style: none; cursor: pointer; }
.related summary::-webkit-details-marker { display: none; }
.btn-pill.btn-pill--outline {
  background: #fff;
  color: var(--green-dark);
  box-shadow: inset 0 0 0 1.5px var(--green), 0 2px 8px rgba(0, 158, 115, 0.12);
}
.btn-pill.btn-pill--outline:hover {
  background: var(--band-mint);
  box-shadow: inset 0 0 0 1.5px var(--green-dark), 0 6px 16px rgba(0, 158, 115, 0.18);
}
.btn-pill .chevron { display: inline-flex; transition: transform 0.2s ease; }
.btn-pill .chevron svg { height: 0.8em; }
.related[open] .chevron { transform: rotate(180deg); }
.related-menu {
  position: absolute;
  top: calc(100% + 10px);
  left: 50%;
  z-index: 20;
  min-width: 230px;
  padding: 6px;
  border: 1px solid var(--line);
  border-radius: 12px;
  background: #fff;
  box-shadow: 0 10px 30px rgba(18, 38, 31, 0.14);
  text-align: left;
  transform: translateX(-50%);
}
.related-menu a {
  display: block;
  padding: 9px 12px;
  border-radius: 8px;
  color: var(--text);
  font-weight: 600;
  text-decoration: none;
}
.related-menu a:hover,
.related-menu a:focus-visible { background: var(--band-mint); color: var(--green-dark); outline: none; }

.btn-pill {
  display: inline-flex;
  align-items: center;
  gap: 0.6em;
  padding: 0.62em 1.4em;
  border-radius: 999px;
  background: var(--green);
  color: #fff;
  font-size: 1.05rem;
  font-weight: 600;
  line-height: 1.4;
  text-decoration: none;
  box-shadow: 0 2px 8px rgba(0, 158, 115, 0.22);
  transition: background-color 0.2s ease, box-shadow 0.2s ease, transform 0.2s ease;
}
.btn-pill:hover {
  background: var(--green-dark);
  box-shadow: 0 6px 16px rgba(0, 158, 115, 0.28);
  transform: translateY(-1px);
}
.btn-pill:focus-visible {
  outline: 3px solid var(--green-soft);
  outline-offset: 3px;
}
.btn-pill svg {
  width: auto;
  height: 1.2em;
  fill: currentColor;
  flex: none;
}

.intro-video {
  position: relative;
  max-width: 1000px;
  margin: 48px auto 0;
  border-radius: 14px;
  overflow: hidden;
  box-shadow: 0 12px 36px rgba(18, 38, 31, 0.16);
  aspect-ratio: 16 / 9;
  background: #0F1714;
}
.intro-video video,
.intro-video iframe {
  display: block;
  width: 100%;
  height: 100%;
  border: 0;
  object-fit: contain;
}


/* =========================================================================
   Overall framework
   ========================================================================= */

/* Column widths proportional to aspect ratio so the figure and video share a height. */
.fw-row {
  display: grid;
  grid-template-columns: minmax(0, 3.497fr) minmax(0, 1.778fr);
  align-items: start;
  column-gap: 24px;
}
.fw-main { display: contents; }   /* its children are grid items on wide screens */
.fw-figure,
.fw-media {
  min-width: 0;
  margin: 0;
}
.fw-figure { grid-column: 1; grid-row: 1; }
.fw-media { grid-column: 2; grid-row: 1; }

.fw-stack {
  position: relative;
  aspect-ratio: 3200 / 915;
}
.fw-stack img {
  position: absolute;
  inset: 0;
  width: 100%;
  height: 100%;
}
.fw-stack img[data-layer]:not([data-layer="base"]) {
  opacity: 0;
  transition: opacity 0.35s ease;
}
.fw-stack img.is-active { opacity: 1 !important; }

.fw-video {
  aspect-ratio: 16 / 9;
  border: 1px solid var(--line);
  border-radius: 10px;
  overflow: hidden;
  background: #fff;
}
.fw-video video {
  width: 100%;
  height: 100%;
  object-fit: cover;
  background: #fff;
}

.caption {
  display: flex;
  align-items: flex-start;
  gap: 0.45em;
  margin: 10px 0 0;
  color: var(--muted);
  font-size: 0.86rem;
  line-height: 1.4;
}
.caption svg { width: 0.95em; height: 0.95em; margin-top: 0.22em; fill: currentColor; flex: none; }
.fw-media .caption { justify-content: flex-end; }
.hint-touch { display: none; }
@media (hover: none) {
  .hint-hover { display: none; }
  .hint-touch { display: inline; }
}

.fw-text {
  grid-column: 1 / -1;
  grid-row: 2;
  width: 100%;
  margin-top: 40px;
}
.fw-text p {
  margin: 0 0 6px;
  padding: 8px 16px;
  border-left: 3px solid transparent;
  border-radius: 0 10px 10px 0;
  transition: background-color 0.25s ease, border-color 0.25s ease;
}
.fw-text p[data-hl] {
  border-left-color: var(--green-soft);
  cursor: default;
}
.fw-text p[data-hl]:focus-visible { outline: none; }
.fw-text p.is-active {
  border-left-color: var(--green);
  background: rgba(0, 158, 115, 0.06);
}

/* =========================================================================
   Zoomable media + lightbox
   ========================================================================= */

[data-zoom] { cursor: zoom-in; }
[data-zoom]:focus-visible {
  outline: 3px solid var(--green);
  outline-offset: 4px;
  border-radius: 6px;
}

.lightbox {
  position: fixed;
  inset: 0;
  z-index: 100;
  display: flex;
  align-items: center;
  justify-content: center;
  padding: 56px 24px 32px;
  background: rgba(12, 20, 17, 0.88);
  cursor: zoom-out;
  animation: lb-fade 0.2s ease;
}
.lightbox[hidden] { display: none; }
.lightbox-stage {
  display: flex;
  width: 100%;
  height: 100%;
  overflow: auto;
  overscroll-behavior: contain;
}
.lightbox-stage > * {
  margin: auto;               /* centers, but stays scrollable when larger than the stage */
  max-width: 100%;
  max-height: 100%;
  width: auto;
  height: auto;
  border-radius: 8px;
  background: #fff;
  box-shadow: 0 20px 60px rgba(0, 0, 0, 0.4);
  cursor: default;
}
.lightbox-stage:focus-visible { outline: 2px solid rgba(255, 255, 255, 0.6); outline-offset: -2px; }
.lightbox-stage > img.is-pannable {
  width: var(--pan-width);
  max-width: none;
  max-height: none;
}
.lightbox-close {
  position: absolute;
  top: 12px;
  right: 14px;
  display: grid;
  place-items: center;
  width: 40px;
  height: 40px;
  padding: 0;
  border: 0;
  border-radius: 50%;
  background: rgba(255, 255, 255, 0.12);
  color: #fff;
  cursor: pointer;
  transition: background-color 0.2s ease;
}
.lightbox-close:hover { background: rgba(255, 255, 255, 0.24); }
.lightbox-close:focus-visible { outline: 2px solid #fff; outline-offset: 2px; }
.lightbox-close svg { width: 16px; height: 16px; fill: currentColor; }

@keyframes lb-fade { from { opacity: 0; } to { opacity: 1; } }

/* =========================================================================
   Results: figures
   ========================================================================= */

.fig-pair {
  display: flex;
  align-items: stretch;
  gap: 28px;
  margin-bottom: 44px;
}
.fig-card {
  display: flex;
  flex-direction: column;
  min-width: 0;
  margin: 0;
  padding: 20px 22px 22px;
  border: 1px solid var(--line);
  border-radius: 16px;
  background: #fff;
  box-shadow: 0 1px 2px rgba(18, 38, 31, 0.04), 0 8px 24px rgba(18, 38, 31, 0.05);
}
.fig-card:nth-child(1) { flex: 1.79 1 0; }
.fig-card:nth-child(2) { flex: 1.68 1 0; }
.fig-card figcaption {
  margin-bottom: 14px;
  text-align: center;
  color: var(--text);
  font-size: 1.1rem;
  font-weight: 700;
  line-height: 1.35;
}
.fig-card img {
  width: 100%;
  height: auto;
  margin-top: auto;
}

/* =========================================================================
   Results: CBF comparison
   ========================================================================= */

.trio {
  display: grid;
  grid-template-columns: repeat(3, minmax(0, 1fr));
  gap: 28px;
}
.vid-card { margin: 0; }
.vid-card h3 {
  display: flex;
  align-items: flex-end;
  justify-content: center;
  min-height: 2.7em;
  margin: 0 0 12px;
  text-align: center;
  color: var(--text);
  font-size: 1.08rem;
  font-weight: 700;
  line-height: 1.35;
}
.vid-card--ours h3 { color: var(--green); }
.vid-card video {
  width: 100%;
  aspect-ratio: 4 / 3;
  object-fit: cover;
  border-radius: var(--radius);
}
.vid-card p {
  margin: 14px 0 0;
  text-align: center;
  color: var(--text-soft);
  font-size: 0.95rem;
  line-height: 1.6;
}

/* =========================================================================
   Results: real-robot scenarios
   ========================================================================= */

.scenario + .scenario { margin-top: 56px; }

.scenario-head { margin-bottom: 18px; }
.scenario-head h3 {
  margin: 0 0 4px;
  color: var(--text);
  font-size: 1.3rem;
  font-weight: 700;
  line-height: 1.35;
}
.scenario-head p {
  margin: 0;
  color: var(--text-soft);
}

/* Front and top views share a height: widths follow each clip's aspect ratio. */
.pair {
  display: flex;
  gap: 14px;
}
.pair-item {
  flex: var(--ar) 1 0;
  min-width: 0;
  aspect-ratio: var(--ar);
}
.pair-item video {
  width: 100%;
  height: 100%;
  object-fit: cover;
  border-radius: var(--radius);
}

/* ---- Carousel ---- */

.carousel-viewport {
  overflow: hidden;
  touch-action: pan-y;
  transition: height 0.4s ease;
}
.carousel-track {
  display: flex;
  align-items: flex-start;
  transition: transform 0.55s cubic-bezier(0.22, 0.61, 0.36, 1);
}
.slide {
  flex: 0 0 100%;
  min-width: 0;
}

.pills {
  display: flex;
  justify-content: center;
  gap: 10px;
  margin-top: 18px;
}
.pill {
  position: relative;
  width: 30px;
  height: 10px;
  padding: 0;
  border: 0;
  border-radius: 999px;
  background: #C4D6CF;
  cursor: pointer;
  transition: width 0.3s ease, background-color 0.3s ease;
}
.pill::before {                 /* larger hit area */
  content: "";
  position: absolute;
  inset: -12px -5px;
}
.pill:hover { background: #A5C3B8; }
.pill[aria-selected="true"] {
  width: 52px;
  background: var(--green);
  cursor: default;
}
.pill:focus-visible { outline: 3px solid var(--green-soft); outline-offset: 3px; }

/* =========================================================================
   BibTeX
   ========================================================================= */

.bibtex {
  position: relative;
  max-width: var(--prose);
  margin-inline: auto;
}
.bibtex pre {
  margin: 0;
  padding: 22px 24px;
  overflow-x: auto;
  white-space: pre-wrap;          /* wrap long fields instead of scrolling; copying keeps the original lines */
  overflow-wrap: anywhere;
  border: 1px solid var(--line);
  border-radius: 12px;
  background: #F6F9F8;
  color: var(--text);
  font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, 'Liberation Mono', monospace;
  font-size: 0.88rem;
  line-height: 1.65;
}
.copy-btn {
  position: absolute;
  top: 10px;
  right: 10px;
  display: inline-flex;
  align-items: center;
  gap: 6px;
  padding: 5px 12px;
  border: 1px solid var(--line);
  border-radius: 999px;
  background: #fff;
  color: var(--muted);
  font-family: inherit;
  font-size: 0.8rem;
  font-weight: 600;
  line-height: 1.4;
  cursor: pointer;
  transition: color 0.2s ease, border-color 0.2s ease;
}
.copy-btn:hover { color: var(--green-dark); border-color: var(--green); }
.copy-btn:focus-visible { outline: 3px solid var(--green-soft); outline-offset: 2px; }
.copy-btn svg { width: 0.95em; height: 0.95em; fill: currentColor; display: block; }
.copy-btn .copied-icon { display: none; }
.copy-btn.is-copied { color: var(--green-dark); border-color: var(--green); }
.copy-btn.is-copied .copy-icon { display: none; }
.copy-btn.is-copied .copied-icon { display: inline; }

/* =========================================================================
   Responsive
   ========================================================================= */

@media (max-width: 1024px) {
  .trio { gap: 20px; }
  .vid-card h3 { font-size: 1rem; }

  /* Stacked framework: figure, its paragraphs, then the DPCBF video. */
  .fw-row { grid-template-columns: minmax(0, 1fr); }
  .fw-main { display: block; }
  .fw-text { margin-top: 22px; }
  .fw-media { grid-column: 1; grid-row: auto; width: 100%; max-width: 640px; margin: 36px auto 0; }
}

/* On portrait screens the (short) figure stays pinned while its paragraphs
   scroll by, so the highlighted part is always in view. */
@media (max-width: 1024px) and (max-aspect-ratio: 1/1) {
  .fw-figure {
    position: sticky;
    top: env(safe-area-inset-top, 0px);
    z-index: 2;
    padding-block: 10px 6px;
    background: #fff;
  }
  .fw-figure::after {           /* soft edge over the text scrolling underneath */
    content: "";
    position: absolute;
    left: 0;
    right: 0;
    top: 100%;
    height: 14px;
    background: linear-gradient(#fff, rgba(255, 255, 255, 0));
    pointer-events: none;
  }
}

@media (max-width: 860px) {
  .fig-pair { flex-direction: column; }
  .fig-card:nth-child(n) { flex: none; }

  .trio { grid-template-columns: minmax(0, 1fr); gap: 40px; max-width: 560px; margin-inline: auto; }
  .vid-card h3 { min-height: 0; font-size: 1.08rem; }
}

@media (max-width: 700px) {
  :root { --gutter: 18px; }
  body { font-size: 16px; }

  .hero-title h1 { --sub: clamp(1.1rem, 5.9vw, 1.75rem); }
  .hero-title .t-main { font-size: calc(var(--sub) * 1.7); }
  .hero-title .t-sub br { display: none; }

  .band { padding-block: 52px; }
  .meta { padding-top: 32px; }
  .authors { font-size: 1.08rem; }
  .links { display: grid; grid-template-columns: repeat(2, auto); justify-content: center; gap: 10px; }
  .links > * { justify-self: stretch; }
  .links .btn-pill { width: 100%; justify-content: center; padding-inline: 1.05em; }
  .affiliations { font-size: 0.95rem; }
  .bibtex pre { padding: 18px 16px; padding-top: 44px; font-size: 0.8rem; }
  .intro-video { margin-top: 34px; border-radius: 10px; }

  .section-title { font-size: 1.6rem; margin-bottom: 30px; }
  .prose p, .lead { text-align: left; }
  .fw-text p { padding: 6px 12px; }

  .pair { flex-direction: column; gap: 10px; }
  .pair-item { flex: none; width: 100%; }

  .lightbox { padding-inline: 8px; }
}

@media (prefers-reduced-motion: reduce) {
  *, *::before, *::after {
    transition-duration: 0.01ms !important;
    animation-duration: 0.01ms !important;
  }
}