/* Dexterity from Supervised Play: project page styles.
   Tokens follow the shared spec: IBM Plex Sans/Mono, near-black ink on white,
   paper chart blue for DSP, paper Fig. 1 hues for the five stages. */

:root {
  --ink: #16181a;
  --ink-2: #50555b;
  --muted: #6c7278;
  --muted-2: #9aa0a6;
  --line: #e3e5e8;
  --page: #ffffff;
  --band: #f3f4f5;
  --dark: #0e1012;
  --dark-ink: #e9ebed;
  --dark-ink-2: #aeb4ba;
  --dark-line: rgba(255, 255, 255, 0.22);
  --frame: #0b0b0b;

  --dsp: #0072b2;
  --distill: #56a7e0;
  --ppo: #d55e00;
  --base-1: #a3a8ad;
  --base-2: #c4c8cc;
  --prop: #e69f00;
  --gt-green: #2ca02c;
  --pred-blue: #1f77b4;

  --s1: #6a4c9c;
  --s2: #e3a33a;
  --s3: #2f64ad;
  --s4: #3a9a4c;
  --s5: #8a8f94;

  --sans: "IBM Plex Sans", system-ui, -apple-system, "Segoe UI", Roboto, Helvetica, Arial, sans-serif;
  --mono: "IBM Plex Mono", ui-monospace, "SFMono-Regular", Menlo, Consolas, monospace;

  --nav-h: 56px;
  --wrap: 1200px;
  --gutter: clamp(20px, 4vw, 40px);
  --r-media: 6px;
  --r-btn: 4px;

  --sp-1: 4px;
  --sp-2: 8px;
  --sp-3: 12px;
  --sp-4: 16px;
  --sp-5: 24px;
  --sp-6: 32px;
  --sp-7: 48px;
  --sp-8: 64px;
  --sp-9: 96px;
}

/* ------------------------------------------------------------ base */

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

html {
  -webkit-text-size-adjust: 100%;
  scroll-padding-top: calc(var(--nav-h) + 16px);
}

@media (prefers-reduced-motion: no-preference) {
  html { scroll-behavior: smooth; }
}

body {
  margin: 0;
  font-family: var(--sans);
  font-size: 17px;
  line-height: 1.6;
  color: var(--ink);
  background: var(--page);
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  text-rendering: optimizeLegibility;
}

body.has-lightbox { overflow: hidden; }

img,
video,
svg { display: block; max-width: 100%; }

a {
  color: inherit;
  text-decoration: underline;
  text-decoration-thickness: 1px;
  text-underline-offset: 0.18em;
  text-decoration-color: rgba(22, 24, 26, 0.35);
}

a:hover { text-decoration-color: currentColor; }

:focus-visible {
  outline: 2px solid var(--dsp);
  outline-offset: 2px;
}

p { margin: 0 0 1em; }

h1,
h2,
h3 {
  margin: 0;
  font-weight: 600;
  letter-spacing: -0.01em;
  text-wrap: balance;
}

sub { font-size: 0.72em; line-height: 0; }

figure { margin: 0; }

figcaption {
  font-size: 0.9375rem;
  line-height: 1.5;
  color: var(--ink-2);
}

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

.skip {
  position: absolute;
  left: -9999px;
  top: 8px;
  z-index: 200;
  background: #fff;
  color: var(--ink);
  padding: 8px 12px;
  border: 1px solid var(--ink);
  border-radius: var(--r-btn);
}

.skip:focus { left: 16px; }

.wrap {
  max-width: var(--wrap);
  margin: 0 auto;
  padding: 0 var(--gutter);
}

.measure { max-width: 66ch; }

/* ------------------------------------------------------------ nav */

.nav {
  position: sticky;
  top: 0;
  z-index: 50;
  background: #fff;
  border-bottom: 1px solid transparent;
  transition: border-color 0.2s ease;
}

.nav.is-scrolled { border-bottom-color: var(--line); }

.nav-progress {
  position: absolute;
  left: 0;
  right: 0;
  bottom: -1px;
  height: 2px;
  pointer-events: none;
}

.nav-progress span {
  display: block;
  height: 100%;
  background: var(--ink);
  transform-origin: 0 50%;
  transform: scaleX(0);
}

.nav-inner {
  max-width: var(--wrap);
  margin: 0 auto;
  padding: 0 var(--gutter);
  height: var(--nav-h);
  display: flex;
  align-items: center;
  gap: var(--sp-6);
}

.brand {
  display: inline-flex;
  align-items: center;
  gap: 10px;
  font-weight: 700;
  font-size: 1rem;
  letter-spacing: 0.01em;
  text-decoration: none;
}

.brand-glyph {
  width: 20px;
  height: 20px;
  fill: var(--ink);
}

.nav-links {
  display: flex;
  gap: var(--sp-5);
  margin-left: auto;
}

.nav-links a {
  position: relative;
  padding: 6px 0;
  font-size: 0.9375rem;
  color: var(--ink-2);
  text-decoration: none;
}

.nav-links a:hover { color: var(--ink); }

.nav-links a[aria-current="true"] { color: var(--ink); }

.nav-links a[aria-current="true"]::after {
  content: "";
  position: absolute;
  left: 0;
  right: 0;
  bottom: 0;
  height: 2px;
  background: var(--ink);
}

.nav-burger {
  display: none;
  margin-left: auto;
  align-items: center;
  gap: 8px;
  min-width: 84px;
  padding: 7px 10px;
  font: 500 0.875rem/1 var(--sans);
  color: var(--ink);
  background: #fff;
  border: 1px solid var(--line);
  border-radius: var(--r-btn);
  cursor: pointer;
}

.nav-burger-bars,
.nav-burger-bars::before,
.nav-burger-bars::after {
  display: block;
  width: 14px;
  height: 1.5px;
  background: var(--ink);
}

.nav-burger-bars { position: relative; }

.nav-burger-bars::before,
.nav-burger-bars::after {
  content: "";
  position: absolute;
  left: 0;
  transition: transform 0.2s ease, top 0.2s ease;
}

.nav-burger-bars::before { top: -4.5px; }
.nav-burger-bars::after { top: 4.5px; }

.nav-burger[aria-expanded="true"] .nav-burger-bars { background: transparent; }
.nav-burger[aria-expanded="true"] .nav-burger-bars::before { top: 0; transform: rotate(45deg); }
.nav-burger[aria-expanded="true"] .nav-burger-bars::after { top: 0; transform: rotate(-45deg); }

@media (max-width: 900px) {
  .nav-burger { display: inline-flex; }

  .nav-links {
    display: none;
    position: absolute;
    top: var(--nav-h);
    left: 0;
    right: 0;
    flex-direction: column;
    gap: 0;
    padding: 0 var(--gutter) var(--sp-3);
    background: #fff;
    border-bottom: 1px solid var(--line);
  }

  .nav-links.is-open { display: flex; }

  .nav-links a {
    padding: 12px 0;
    border-top: 1px solid var(--line);
    font-size: 1rem;
  }

  .nav-links a[aria-current="true"]::after { display: none; }
}

/* ------------------------------------------------------------ shared controls */

.btn {
  display: inline-flex;
  align-items: center;
  gap: 8px;
  padding: 10px 14px;
  font: 500 0.9375rem/1 var(--sans);
  color: var(--ink);
  background: transparent;
  border: 1px solid var(--ink);
  border-radius: var(--r-btn);
  text-decoration: none;
}

.btn svg {
  width: 18px;
  height: 18px;
  fill: currentColor;
}

.btn:hover {
  background: var(--ink);
  color: #fff;
}

.ctl {
  display: inline-flex;
  align-items: center;
  justify-content: center;
  gap: 6px;
  min-height: 36px;
  padding: 8px 12px;
  font: 500 0.875rem/1 var(--sans);
  color: var(--ink);
  background: #fff;
  border: 1px solid var(--ink);
  border-radius: var(--r-btn);
  cursor: pointer;
}

.ctl svg {
  width: 18px;
  height: 18px;
  fill: currentColor;
}

.ctl:hover,
.ctl[aria-pressed="true"] {
  background: var(--ink);
  color: #fff;
}

.ctl-dark {
  color: var(--dark-ink);
  background: transparent;
  border-color: var(--dark-line);
}

.ctl-dark:hover {
  background: #fff;
  color: var(--dark);
  border-color: #fff;
}

.seg {
  display: inline-flex;
  flex-wrap: nowrap;
  max-width: 100%;
  border: 1px solid var(--ink);
  border-radius: var(--r-btn);
  overflow: hidden;
}

.seg button {
  min-height: 36px;
  padding: 8px 12px;
  font: 500 0.875rem/1 var(--sans);
  color: var(--ink);
  background: #fff;
  border: 0;
  cursor: pointer;
}

.seg button + button { border-left: 1px solid var(--ink); }

.seg button:hover { background: var(--band); }

.seg button[aria-pressed="true"] {
  background: var(--ink);
  color: #fff;
}

.seg button:focus-visible { outline-offset: -3px; }

.seg-dark { border-color: var(--dark-line); }

.seg-dark button {
  color: var(--dark-ink);
  background: transparent;
}

.seg-dark button + button { border-left-color: var(--dark-line); }

.seg-dark button:hover { background: rgba(255, 255, 255, 0.08); }

.seg-dark button[aria-pressed="true"] {
  background: #fff;
  color: var(--dark);
}

.caption {
  margin: var(--sp-3) 0 0;
  font-size: 0.9375rem;
  line-height: 1.5;
  color: var(--ink-2);
}

.caption-dark { color: var(--dark-ink-2); }

/* ------------------------------------------------------------ video frames */

.vframe {
  position: relative;
  aspect-ratio: var(--ar, 16 / 9);
  background: var(--frame);
  border-radius: var(--r-media);
  overflow: hidden;
}

.vframe > video,
.vframe > img {
  width: 100%;
  height: 100%;
  object-fit: contain;
}

.vframe.is-light {
  background: #fff;
  border: 1px solid var(--line);
}

.vframe.is-clickable { cursor: zoom-in; }

.vframe.is-clickable:hover > video,
.vframe.is-clickable:hover > img { opacity: 0.94; }

.vframe.is-missing::after {
  content: attr(data-missing);
  position: absolute;
  inset: 0;
  display: grid;
  place-items: center;
  padding: var(--sp-4);
  font: 400 0.8125rem/1.4 var(--mono);
  color: var(--muted);
  text-align: center;
}

.badge {
  position: absolute;
  z-index: 2;
  top: 10px;
  left: 10px;
  padding: 5px 7px;
  font: 500 0.75rem/1 var(--mono);
  color: #fff;
  background: rgba(11, 11, 11, 0.72);
  border-radius: 3px;
  pointer-events: none;
}

.badge[hidden] { display: none; }

.vplay {
  position: absolute;
  z-index: 3;
  left: 10px;
  bottom: 10px;
  min-height: 32px;
  padding: 6px 10px;
  font: 500 0.8125rem/1 var(--sans);
  color: #fff;
  background: rgba(11, 11, 11, 0.78);
  border: 1px solid rgba(255, 255, 255, 0.4);
  border-radius: var(--r-btn);
  cursor: pointer;
}

/* Rows whose items keep equal heights: JS sets --grow to each item's aspect ratio. */
.eqrow {
  display: flex;
  gap: var(--sp-3);
  align-items: flex-start;
}

.eqcell {
  flex: var(--grow, 1) 1 0;
  min-width: 0;
}

.eqcell figcaption { margin-top: var(--sp-2); }

/* ------------------------------------------------------------ sections */

.section {
  padding: clamp(64px, 9vw, 112px) 0;
  border-top: 1px solid var(--line);
}

.section-tight { padding: clamp(48px, 6vw, 80px) 0; }

.band {
  background: var(--band);
  border-top-color: var(--band);
}

.band-dark {
  background: var(--dark);
  color: var(--dark-ink);
  border-top-color: var(--dark);
}

.section h2 {
  max-width: 28ch;
  margin-bottom: var(--sp-5);
  font-size: clamp(1.65rem, 1.15rem + 1.7vw, 2.3rem);
  line-height: 1.16;
  letter-spacing: -0.015em;
}

.band-dark h2 { color: #fff; }

.lede {
  margin-bottom: var(--sp-6);
  font-size: 1.125rem;
  line-height: 1.55;
  color: var(--ink-2);
}

.band-dark .lede { color: var(--dark-ink-2); }

.result h3,
.stage h3,
.toy-block h3 {
  margin-bottom: var(--sp-4);
  font-size: 1.375rem;
  line-height: 1.3;
}

/* ------------------------------------------------------------ hero */

.hero { padding: clamp(28px, 3.4vw, 44px) 0 clamp(48px, 6vw, 80px); }

.hero h1 {
  font-size: clamp(2.15rem, 1.2rem + 3.1vw, 3.5rem);
  line-height: 1.05;
  letter-spacing: -0.025em;
}

.hero-lede {
  max-width: 68ch;
  margin: var(--sp-3) 0 var(--sp-4);
  font-size: clamp(1rem, 0.94rem + 0.3vw, 1.1875rem);
  line-height: 1.5;
}

.authors {
  max-width: 80ch;
  margin: 0 0 2px;
  font-size: 1rem;
}

.authors a { text-decoration-color: rgba(22, 24, 26, 0.28); }

.affil {
  margin: 0 0 var(--sp-2);
  font-size: 0.9375rem;
  color: var(--ink-2);
}

.soon {
  margin: 0 0 var(--sp-3);
  font-size: 0.9375rem;
  color: var(--ink-2);
}

.soon a { color: var(--ink); font-weight: 500; }

.links {
  display: flex;
  flex-wrap: wrap;
  gap: var(--sp-3);
  margin-bottom: var(--sp-6);
}

.hero-pair {
  display: grid;
  grid-template-columns: minmax(0, 1fr) 56px minmax(0, 1fr);
  column-gap: var(--sp-2);
  align-items: center;
}

.hero-cell { min-width: 0; }

.hero-cell:first-child { grid-column: 1; }
.hero-cell:last-child { grid-column: 3; }

.hero-arrow {
  grid-row: 1;
  grid-column: 2;
  align-self: center;
  justify-self: center;
}

.hero-arrow svg,
.mpc-arrow svg {
  width: 40px;
  height: 20px;
  fill: var(--ink);
}

.hero-pusht {
  margin-top: clamp(18px, 2.4vw, 28px);
}

.hero-pusht-strip {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: clamp(24px, 4vw, 56px);
  align-items: center;
}

.hero-pusht-step {
  display: grid;
  grid-template-columns: minmax(140px, 180px) minmax(0, 1fr);
  gap: clamp(16px, 2vw, 28px);
  align-items: center;
  min-width: 0;
}

.hero-pusht-copy {
  margin: 0;
  font-size: clamp(1.1rem, 0.82rem + 0.9vw, 1.45rem);
  font-weight: 500;
  line-height: 1.25;
  color: var(--ink-2);
  text-align: center;
  text-wrap: balance;
}

.hero-pusht-copy strong {
  display: block;
  color: var(--dsp);
  font-weight: 600;
}

@media (max-width: 720px) {
  .hero-pair {
    grid-template-columns: minmax(0, 1fr);
    grid-template-rows: none;
    row-gap: var(--sp-3);
  }

  .hero-cell,
  .hero-cell:first-child,
  .hero-cell:last-child {
    grid-row: auto;
    grid-column: 1;
    display: block;
  }

  .hero-arrow {
    grid-row: auto;
    grid-column: 1;
    transform: rotate(90deg);
    margin: var(--sp-1) 0;
  }

  .hero-pusht-strip {
    grid-template-columns: minmax(0, 1fr);
    gap: var(--sp-4);
    max-width: 460px;
    margin-right: auto;
    margin-left: auto;
  }

  .hero-pusht-step {
    grid-template-columns: minmax(112px, 150px) minmax(0, 1fr);
  }

  .hero-pusht-copy {
    font-size: clamp(1.05rem, 0.92rem + 0.6vw, 1.2rem);
  }
}

/* ------------------------------------------------------------ method */

.method-grid {
  display: grid;
  grid-template-columns: minmax(0, 5fr) minmax(0, 7fr);
  gap: clamp(32px, 5vw, 72px);
}

.method-fig {
  position: sticky;
  top: calc(var(--nav-h) + 24px);
  align-self: start;
}

.pl-figure { position: relative; }

.pl-figure img {
  width: 100%;
  height: auto;
}

.pl-region {
  position: absolute;
  margin: 0;
  padding: 0;
  background: transparent;
  border: 0;
  border-radius: 10px;
  cursor: pointer;
  transition: background-color 0.35s ease;
}

.pl-figure.has-active .pl-region { background: rgba(255, 255, 255, 0.74); }

.pl-figure.has-active .pl-region.is-active,
.pl-figure.has-active .pl-region:hover { background: transparent; }

.pl-region:focus-visible { outline-offset: -2px; }

.stage {
  min-height: 62vh;
  padding: var(--sp-7) 0;
  border-top: 1px solid var(--line);
}

.stage:first-child {
  padding-top: 0;
  border-top: 0;
}

.stage-text { min-height: 44vh; }

.stage h3 {
  display: flex;
  align-items: baseline;
  gap: var(--sp-3);
}

.stage-mark {
  flex: none;
  position: relative;
  top: -2px;
  display: inline-grid;
  place-items: center;
  width: 26px;
  height: 26px;
  font: 600 0.875rem/1 var(--sans);
  color: #fff;
  background: var(--stage);
  border-radius: 3px;
}

.stage > .vframe,
.stage > .eqrow { margin-top: var(--sp-2); }

/* Crop of the pipeline figure shown at the top of each stage on narrow screens. */
.stage-crop {
  display: none;
  margin-bottom: var(--sp-4);
  background-image: url("../images/pipeline.png");
  background-repeat: no-repeat;
  border-radius: 4px;
}

#stage-1 .stage-crop { aspect-ratio: 843 / 707; background-size: 203.25% auto; background-position: 0% 0.65%; }
#stage-2 .stage-crop { aspect-ratio: 847 / 707; background-size: 202.43% auto; background-position: 100% 0.65%; }
#stage-3 .stage-crop { aspect-ratio: 1714 / 352; background-size: 100% auto; background-position: 0% 48.89%; }
#stage-4 .stage-crop { aspect-ratio: 1714 / 498; background-size: 100% auto; background-position: 0% 81.67%; }
#stage-5 .stage-crop { aspect-ratio: 1714 / 233; background-size: 100% auto; background-position: 0% 100%; }

.spec {
  display: grid;
  grid-template-columns: max-content minmax(0, 1fr);
  gap: 4px var(--sp-4);
  margin: var(--sp-4) 0 var(--sp-5);
  padding: var(--sp-3) 0;
  font-family: var(--mono);
  font-size: 0.8125rem;
  line-height: 1.5;
  border-top: 1px solid var(--line);
  border-bottom: 1px solid var(--line);
}

.spec div { display: contents; }

.spec dt { color: var(--muted); }

.spec dd {
  margin: 0;
  color: var(--ink);
}

.sync-pair figcaption {
  font-size: 0.875rem;
  color: var(--ink);
}

.wm { margin-top: var(--sp-2); }

.wm-row { margin-top: var(--sp-3); }

.wm-legend {
  display: flex;
  flex-wrap: wrap;
  align-items: center;
  gap: 4px 8px;
  min-height: 1.5em;
  margin: 0 0 6px;
  font-size: 0.8125rem;
  line-height: 1.4;
  color: var(--ink-2);
}

.sw {
  display: inline-block;
  width: 14px;
  height: 3px;
  border-radius: 1px;
}

.sw + * { margin-right: 6px; }

.sw-green { background: var(--gt-green); }
.sw-blue { background: var(--pred-blue); }

.wm-controls {
  display: flex;
  align-items: center;
  gap: var(--sp-4);
  margin-top: var(--sp-4);
}

.wm-controls .ctl { min-width: 72px; }

.wm-slider { flex: 1; }

.wm-slider input {
  display: block;
  width: 100%;
  margin: 0;
  accent-color: var(--ink);
}

.wm-readout {
  min-width: 23ch;
  font: 500 0.8125rem/1.3 var(--mono);
  text-align: right;
  font-variant-numeric: tabular-nums;
}

.wm.is-fallback .wm-slider { opacity: 0.4; }

.flowline {
  display: flex;
  flex-wrap: wrap;
  align-items: baseline;
  gap: var(--sp-2) 0;
  margin: var(--sp-5) 0 0;
  padding: 0;
  list-style: none;
  font-size: 0.9375rem;
}

.flowline li { display: block; }

/* The arrow trails each item, so a wrap never leaves an arrow at the start of a line. */
.flowline li:not(:last-child)::after {
  content: "\2192";
  margin: 0 var(--sp-3);
  color: var(--muted);
}

.flowline .num {
  font-family: var(--mono);
  font-weight: 500;
}

@media (max-width: 960px) {
  .method-grid { grid-template-columns: minmax(0, 1fr); }
  .method-fig { display: none; }
  .stage-crop { display: block; }
  .stage,
  .stage-text { min-height: 0; }
  .stage:first-child { padding-top: var(--sp-2); }
}

@media (max-width: 520px) {
  .wm-row { flex-direction: column; }
  .wm-row .eqcell { flex: none; width: 100%; }
  .wm-row .eqcell:first-child .vframe { max-width: 300px; }
  .wm-controls { flex-wrap: wrap; }
  .wm-slider { flex-basis: 100%; order: 3; }
  .wm-readout { min-width: 0; text-align: left; }

  .sync-pair { flex-direction: column; }
  .sync-pair .eqcell { flex: none; width: 100%; }

  .flowline {
    flex-direction: column;
    gap: var(--sp-1);
  }

  .flowline li:not(:last-child)::after { content: "\2193"; margin: 0 0 0 var(--sp-2); }
}

/* ------------------------------------------------------------ planning */

.mpc { margin-top: var(--sp-2); }

.mpc-head {
  display: flex;
  flex-wrap: wrap;
  align-items: center;
  gap: var(--sp-3) var(--sp-5);
  margin-bottom: var(--sp-5);
}

.mpc-steps {
  display: flex;
  flex-wrap: wrap;
  gap: var(--sp-2);
}

.mpc-step {
  display: inline-flex;
  align-items: center;
  gap: 8px;
  min-height: 40px;
  padding: 10px 14px;
  font: 500 0.9375rem/1 var(--sans);
  color: var(--ink-2);
  background: #fff;
  border: 1px solid var(--line);
  border-radius: var(--r-btn);
  cursor: pointer;
}

.mpc-step .n {
  font-family: var(--mono);
  font-size: 0.8125rem;
  color: var(--muted);
}

.mpc-step:hover {
  border-color: var(--ink);
  color: var(--ink);
}

.mpc-step[aria-pressed="true"] {
  color: #fff;
  background: var(--ink);
  border-color: var(--ink);
}

.mpc-step[aria-pressed="true"] .n { color: rgba(255, 255, 255, 0.7); }

/* Auto-advance is a quiet text control, styled apart from the step buttons. */
.mpc-auto {
  display: inline-flex;
  align-items: center;
  gap: 6px;
  min-height: 40px;
  margin-left: auto;
  padding: 8px 4px;
  font: 500 0.875rem/1 var(--sans);
  color: var(--ink-2);
  background: transparent;
  border: 0;
  cursor: pointer;
}

.mpc-auto:hover { color: var(--ink); }

.mpc-auto svg {
  width: 16px;
  height: 16px;
  fill: currentColor;
}

.mpc-auto .i-play,
.mpc-auto.is-paused .i-pause { display: none; }

.mpc-auto.is-paused .i-play { display: block; }

.mpc-board {
  display: grid;
  grid-template-columns: minmax(0, 1fr) 40px repeat(3, minmax(0, 1fr)) 40px minmax(0, 1fr);
  grid-template-rows: auto auto;
  column-gap: var(--sp-3);
  row-gap: 0;
}

.mpc-board > .mpc-tile {
  grid-row: 1 / span 2;
  display: grid;
  grid-template-rows: subgrid;
}

.mpc-arrow {
  grid-row: 1;
  align-self: center;
  justify-self: center;
}

.mpc-arrow svg {
  width: 30px;
  fill: var(--muted-2);
}

.mpc-tile { transition: opacity 0.4s ease; }

.mpc-frame { position: relative; }

.mpc-frame::after {
  content: "";
  position: absolute;
  inset: 0;
  border: 2px solid transparent;
  border-radius: inherit;
  pointer-events: none;
  transition: border-color 0.3s ease;
}

.mpc-still {
  position: absolute;
  inset: 0;
  width: 100%;
  height: 100%;
  object-fit: contain;
  background: #fff;
}

.mpc-still[hidden] { display: none; }

.mpc-tile figcaption {
  display: grid;
  grid-template-rows: auto auto;
  gap: 2px;
  margin-top: var(--sp-2);
  font-size: 0.875rem;
}

.mpc-name { color: var(--ink); }

.mpc-flag {
  min-height: 1.4em;
  font-size: 0.8125rem;
  color: var(--dsp);
  visibility: hidden;
}

.mpc[data-phase="0"] .mpc-goal,
.mpc[data-phase="1"] .mpc-goal { opacity: 0.4; }

.mpc[data-phase="1"] .mpc-state { opacity: 0.55; }

.mpc[data-phase="2"] .mpc-prop[data-best="true"] .mpc-flag,
.mpc[data-phase="3"] .mpc-prop[data-best="true"] .mpc-flag { visibility: visible; }

.mpc[data-phase="2"] .mpc-prop[data-best="true"] .mpc-frame::after,
.mpc[data-phase="3"] .mpc-prop[data-best="true"] .mpc-frame::after,
.mpc[data-phase="3"] .mpc-state .mpc-frame::after { border-color: var(--dsp); }

.mpc[data-phase="2"] .mpc-prop[data-best="false"] { opacity: 0.55; }
.mpc[data-phase="3"] .mpc-prop { opacity: 0.3; }

.mpc[data-phase="3"].is-replan .mpc-replan { visibility: visible; }

.mpc-ghost {
  position: fixed;
  z-index: 40;
  object-fit: contain;
  background: #fff;
  border-radius: var(--r-media);
  pointer-events: none;
}

.mpc-text {
  max-width: 66ch;
  min-height: 3.3em;
  margin: var(--sp-5) 0 0;
  font-size: 1.0625rem;
}

.toy-block {
  margin-top: clamp(64px, 8vw, 104px);
  padding-top: var(--sp-7);
  border-top: 1px solid #dcdfe2;
}

.ptoy { margin-top: var(--sp-4); }

.ptoy-fallback {
  padding: var(--sp-5);
  color: var(--ink-2);
  background: #fff;
  border: 1px solid var(--line);
  border-radius: var(--r-media);
}

@media (max-width: 900px) {
  .mpc-board {
    grid-template-columns: repeat(3, minmax(0, 1fr));
    grid-template-rows: none;
    row-gap: var(--sp-5);
  }

  .mpc-board > .mpc-tile {
    grid-row: auto;
    display: block;
  }

  .mpc-arrow { display: none; }
  .mpc-board > .mpc-state { grid-column: 1; grid-row: 1; }
  .mpc-board > .mpc-goal { grid-column: 3; grid-row: 1; }
  .mpc-board > .mpc-prop { grid-row: 2; }
  .mpc-auto { margin-left: 0; }
}

/* ------------------------------------------------------------ results and analysis */

.result { margin-top: clamp(64px, 8vw, 104px); }

.wrap > h2 + .result { margin-top: var(--sp-6); }

.result > .measure + .chart,
.result > .measure + .skills,
.result > .measure + .pair-media,
.result > p.measure + .skills { margin-top: var(--sp-5); }

.split {
  display: grid;
  grid-template-columns: minmax(0, 5fr) minmax(0, 7fr);
  gap: clamp(28px, 4vw, 56px);
  align-items: start;
}

.split-chart { grid-template-columns: minmax(0, 4fr) minmax(0, 8fr); }

.split-rev { grid-template-columns: minmax(0, 8fr) minmax(0, 4fr); }

.split-media { grid-template-columns: minmax(0, 7fr) minmax(0, 5fr); }

.split-even { grid-template-columns: minmax(0, 1fr) minmax(0, 1fr); }

.split + .chart,
.chart + .chart { margin-top: var(--sp-7); }

.split-text p:last-child { margin-bottom: 0; }

@media (max-width: 960px) {
  .split,
  .split-chart,
  .split-rev,
  .split-media,
  .split-even { grid-template-columns: minmax(0, 1fr); }
  .split-rev .split-text { order: -1; }
}

.chart-full { max-width: 1000px; }

.pair-media {
  display: grid;
  grid-template-columns: minmax(0, 7fr) minmax(0, 5fr);
  gap: clamp(24px, 3vw, 40px);
  align-items: start;
  margin-top: var(--sp-7);
}

.pair-media-rev { grid-template-columns: minmax(0, 5fr) minmax(0, 7fr); }

@media (max-width: 960px) {
  .pair-media,
  .pair-media-rev { grid-template-columns: minmax(0, 1fr); }
}

.skills {
  display: grid;
  grid-template-columns: repeat(3, minmax(0, 1fr));
  gap: var(--sp-5) var(--sp-4);
}

.skill figcaption {
  margin-top: var(--sp-2);
  color: var(--ink);
}

@media (max-width: 860px) {
  .skills { grid-template-columns: repeat(2, minmax(0, 1fr)); }
}

@media (max-width: 460px) {
  .skills { gap: var(--sp-4) var(--sp-3); }
  .skill figcaption { font-size: 0.8125rem; }
}

/* hardware runs: eight clips playing at once, two per row */
.runs-grid {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: var(--sp-6) var(--sp-5);
  margin-top: var(--sp-6);
}

.runs-grid + .caption { margin-top: var(--sp-5); }

.run figcaption {
  margin-top: var(--sp-2);
  color: var(--dark-ink-2);
  font-variant-numeric: tabular-nums;
}

.run-name {
  margin-right: 0.6em;
  font-weight: 600;
  color: var(--dark-ink);
}

.run-flag {
  display: block;
  font-size: 0.8125rem;
}

@media (max-width: 640px) {
  .runs-grid {
    grid-template-columns: minmax(0, 1fr);
    gap: var(--sp-5);
  }
}

.sim-visual-pair {
  display: grid;
  grid-template-columns: minmax(0, 3fr) minmax(0, 4fr);
  gap: var(--sp-5);
  align-items: start;
  margin-top: var(--sp-5);
}

.sim-visual-pair + .chart { margin-top: var(--sp-7); }

@media (max-width: 760px) {
  .sim-visual-pair { grid-template-columns: minmax(0, 1fr); }
}

.pusht-strip {
  display: grid;
  grid-template-columns: repeat(4, minmax(0, 1fr));
  gap: var(--sp-4);
  margin-top: var(--sp-7);
}

.pusht-strip figcaption {
  margin-top: var(--sp-2);
  font-size: 0.875rem;
}

@media (max-width: 760px) {
  .pusht-strip { grid-template-columns: repeat(2, minmax(0, 1fr)); }
}

.pix-comparison {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: clamp(24px, 3vw, 40px);
  align-items: start;
  margin-top: var(--sp-5);
}

.pix-view { min-width: 0; }

.pix-title {
  margin: 0 0 var(--sp-2);
  font-size: 0.9375rem;
  font-weight: 600;
}

.pix-view figcaption {
  margin-top: var(--sp-2);
  font-size: 0.875rem;
}

.pix-labels {
  display: grid;
  grid-template-columns: 1fr 1fr;
  gap: var(--sp-2);
  margin-bottom: 6px;
  font-size: 0.8125rem;
  line-height: 1.35;
  color: var(--ink-2);
}

.pix + .chart { margin-top: var(--sp-7); }

@media (max-width: 760px) {
  .pix-comparison { grid-template-columns: minmax(0, 1fr); }
}

/* ------------------------------------------------------------ chart videos */

.chart {
  display: grid;
  grid-template-columns: minmax(0, 1fr);
}

.chart-frame {
  position: relative;
  grid-row: 1;
  aspect-ratio: var(--ar, 16 / 9);
  background: #fff;
  overflow: hidden;
  cursor: pointer;
}

.chart-frame video {
  width: 100%;
  height: 100%;
  object-fit: contain;
}

.chart-replay {
  position: absolute;
  top: 8px;
  right: 8px;
  display: inline-flex;
  align-items: center;
  gap: 5px;
  padding: 5px 8px;
  font: 500 0.75rem/1 var(--sans);
  color: var(--ink-2);
  background: rgba(255, 255, 255, 0.92);
  border: 1px solid var(--line);
  border-radius: var(--r-btn);
  opacity: 0;
  transition: opacity 0.2s ease;
  pointer-events: none;
}

.chart-replay svg {
  width: 13px;
  height: 13px;
  fill: currentColor;
}

.chart-frame:hover .chart-replay,
.chart-frame:focus-visible .chart-replay { opacity: 1; }

@media (hover: none) {
  .chart-replay { opacity: 0.85; }
}

.chart-frame:focus-visible { outline-offset: 4px; }

.chart-frame.is-missing::after {
  content: "Chart video could not be loaded.";
  position: absolute;
  inset: 0;
  display: grid;
  place-items: center;
  padding: var(--sp-5);
  font: 400 0.8125rem/1.4 var(--mono);
  color: var(--muted);
  text-align: center;
  background: #fff;
}

/* ------------------------------------------------------------ faq */

.faq details { border-top: 1px solid var(--line); }

.faq details:last-child { border-bottom: 1px solid var(--line); }

.faq summary {
  display: flex;
  justify-content: space-between;
  gap: var(--sp-4);
  padding: var(--sp-4) 0;
  font-size: 1.0625rem;
  font-weight: 600;
  list-style: none;
  cursor: pointer;
}

.faq summary::-webkit-details-marker { display: none; }

.faq summary::after {
  content: "+";
  flex: none;
  font: 400 1.125rem/1.4 var(--mono);
  color: var(--muted);
}

.faq details[open] summary::after { content: "\2212"; }

.faq summary:hover { color: var(--ink-2); }

.faq summary:focus-visible { outline-offset: 4px; }

.faq details p { margin: 0 0 var(--sp-4); }

.faq details p:last-child { padding-bottom: var(--sp-2); }

/* ------------------------------------------------------------ bibtex + footer */

.bib {
  position: relative;
  max-width: 820px;
}

.bib pre {
  margin: 0;
  padding: var(--sp-5);
  padding-right: 96px;
  overflow-x: auto;
  font: 400 0.875rem/1.65 var(--mono);
  background: var(--band);
  border-radius: var(--r-media);
}

.bib .bl { display: block; }

.bib-copy {
  position: absolute;
  top: 12px;
  right: 12px;
}

.footer {
  padding: var(--sp-6) 0;
  font-size: 0.875rem;
  color: var(--ink-2);
  border-top: 1px solid var(--line);
}

.footer p { margin: 0; }

@media (max-width: 640px) {
  .bib-copy {
    position: static;
    margin-bottom: var(--sp-2);
  }

  .bib pre {
    padding: var(--sp-4);
    font-size: 0.8125rem;
    white-space: pre-wrap;
    overflow-wrap: anywhere;
  }

  /* Hanging indent: wrapped parts of a field line up under the value. */
  .bib .bl {
    padding-left: 12ch;
    text-indent: -12ch;
  }

  .seg button {
    padding: 8px 10px;
    font-size: 0.8125rem;
  }
}

/* ------------------------------------------------------------ lightbox */

.lightbox {
  position: fixed;
  inset: 0;
  z-index: 100;
  display: grid;
  grid-template-rows: 1fr auto;
  justify-items: center;
  align-items: center;
  gap: var(--sp-3);
  padding: 60px 4vw 20px;
  background: rgba(11, 11, 11, 0.95);
}

.lightbox[hidden] { display: none; }

.lightbox-body {
  display: grid;
  place-items: center;
  width: 100%;
  height: 100%;
  min-height: 0;
}

.lightbox-body video,
.lightbox-body img {
  width: 92vw;
  height: calc(100vh - 140px);
  max-width: 100%;
  object-fit: contain;
  background: transparent;
  border-radius: var(--r-media);
}

.lightbox-cap {
  max-width: 80ch;
  margin: 0;
  font-size: 0.9375rem;
  color: var(--dark-ink-2);
  text-align: center;
}

.lightbox-cap:empty { display: none; }

.lightbox-close {
  position: absolute;
  top: 12px;
  right: 16px;
  min-height: 36px;
  padding: 8px 12px;
  font: 500 0.9375rem/1 var(--sans);
  color: #fff;
  background: transparent;
  border: 1px solid rgba(255, 255, 255, 0.4);
  border-radius: var(--r-btn);
  cursor: pointer;
}

.lightbox-close:hover {
  background: #fff;
  color: var(--frame);
}

/* ------------------------------------------------------------ motion preferences */

@media (prefers-reduced-motion: reduce) {
  *,
  *::before,
  *::after {
    transition: none !important;
    animation: none !important;
  }
}

@media print {
  .nav,
  .mpc-head,
  .wm-controls,
  .bib-copy { display: none; }
}