body {
  font-family: 'Noto Sans', sans-serif;
}

/* Larger main body text. Figure captions keep their own explicit size, so they
   are unaffected. */
.content {
  font-size: 1.15rem;
}

.offline-text {
  font-size: 1.15rem;
}


.footer .icon-link {
    font-size: 25px;
    color: #000;
}

.link-block a {
    margin-top: 5px;
    margin-bottom: 5px;
}

.dnerf,
.frs {
  font-variant: small-caps;
}

.teaser-figure {
  width: 100%;
  border-radius: 10px;
  margin-bottom: 2rem;
  display: block;
}

.video-placeholder {
  aspect-ratio: 16 / 9;
  background: #f0f0f0;
  border: 2px dashed #ccc;
  border-radius: 10px;
  display: flex;
  align-items: center;
  justify-content: center;
  color: #888;
  font-size: 0.95rem;
  text-align: center;
  padding: 1rem;
}

.video-placeholder i {
  font-size: 1.5rem;
  margin-bottom: 0.5rem;
  display: block;
}

.stats-box {
  background: #f5f5f5;
  border-radius: 10px;
  padding: 1.25rem;
  margin: 1rem 0;
}

.stats-box ul {
  margin-bottom: 0;
}

.figure-caption {
  font-size: 0.9rem;
  color: #555;
  margin-top: 0.5rem;
}

.video-grid {
  display: grid;
  gap: 1rem;
  margin-top: 1rem;
}

.video-grid-2col {
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 1.5rem 2rem;
}

.video-grid-3col {
  grid-template-columns: repeat(3, minmax(0, 1fr));
  gap: 1.5rem 2rem;
}

@media screen and (max-width: 768px) {
  .video-grid-2col,
  .video-grid-3col {
    grid-template-columns: 1fr;
  }
}

.video-aspect {
  width: 100%;
  background: #111;
  border-radius: 10px;
  overflow: hidden;
  line-height: 0;
  position: relative;   /* anchor injected overlays (e.g. Video Speed Controller) to the video box */
}

.video-card .video-aspect video {
  width: 100%;
  height: auto;
  display: block;
  vertical-align: top;
}

.video-card-caption {
  margin-top: 0.75rem;
  margin-bottom: 0;
  text-align: center;
  font-size: 1rem;
}

/* Simulation: 3-up sliding carousel inside a grey box */
.sim-carousel {
  position: relative;
  margin-top: 1.25rem;
  padding: 1.5rem;
  background: #f0f0f2;
  border-radius: 14px;
}

.sim-carousel-viewport {
  min-width: 0;
  overflow: hidden;
  -webkit-mask-image: linear-gradient(
    to right,
    transparent 0%,
    #000 14%,
    #000 86%,
    transparent 100%
  );
  mask-image: linear-gradient(
    to right,
    transparent 0%,
    #000 14%,
    #000 86%,
    transparent 100%
  );
}

.sim-carousel-track {
  display: flex;
  transition: transform 0.35s ease;
  will-change: transform;
}

.sim-carousel-card {
  flex: 0 0 64%;
  max-width: 64%;
  padding: 0 0.6rem;
  box-sizing: border-box;
  opacity: 0.45;
  transition: opacity 0.35s ease;
}

.sim-carousel-card.is-active {
  opacity: 1;
}

.sim-carousel-card .sim-video-aspect {
  min-height: 0;
  max-width: 100%;
  aspect-ratio: 1 / 1;
}

.sim-carousel-card .video-card-caption {
  margin-top: 0.6rem;
  font-size: 0.95rem;
}

.sim-carousel-card:not(.is-active) .video-card-caption {
  visibility: hidden;
}

/* Multi-method carousel card: main "Ours" clip full width, the two comparison
   clips half width/height in a row underneath. All clips are 16:9. */
.sim-carousel-card .video-aspect.ar169 {
  aspect-ratio: 16 / 9;
  max-width: 100%;
}

.rollout-cell .video-aspect.ar169 video {
  width: 100%;
  height: 100%;
  object-fit: contain;
  display: block;
  background: #000;
}

.rollout-variants {
  display: grid;
  grid-template-columns: 1fr 1fr;
  gap: 0.6rem;
  margin-top: 0.6rem;
}

.method-label {
  margin: 0.4rem 0 0;
  text-align: center;
  font-size: 0.85rem;
  font-weight: 600;
  color: #555;
}

.rollout-variant .method-label {
  font-size: 0.78rem;
}

.method-label.ours {
  color: #6a4fa3;
}

.sim-carousel-card:not(.is-active) .method-label {
  visibility: hidden;
}

.sim-carousel-arrow {
  position: absolute;
  top: 50%;
  transform: translateY(-50%);
  z-index: 2;
  width: 3rem;
  height: 3rem;
  border-radius: 50%;
  border: none;
  background: rgba(40, 40, 40, 0.85);
  color: #fff;
  font-size: 1.1rem;
  cursor: pointer;
  display: flex;
  align-items: center;
  justify-content: center;
  transition: background 0.15s ease, opacity 0.15s ease;
}

.sim-carousel-stage {
  position: relative;
}

.sim-carousel-prev {
  left: 0;
}

.sim-carousel-next {
  right: 0;
}

.sim-carousel-arrow:hover {
  background: rgba(40, 40, 40, 0.95);
}

.sim-carousel-arrow:disabled {
  opacity: 0.3;
  cursor: default;
}

.sim-carousel-dots {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  align-items: center;
  gap: 0.45rem;
  margin-top: 0.85rem;
}

.sim-dot {
  width: 8px;
  height: 8px;
  padding: 0;
  border: none;
  border-radius: 50%;
  background: #c6c6cf;
  cursor: pointer;
  transition: background 0.15s ease, transform 0.15s ease;
}

.sim-dot:hover {
  background: #9a9aa6;
}

.sim-dot.is-active {
  background: #555;
  transform: scale(1.35);
}

.sim-carousel-cap {
  margin: 1.1rem auto 0;
  max-width: 46rem;
  text-align: center;
  font-size: 0.95rem;
  line-height: 1.45;
  color: #555;
}

@media screen and (max-width: 768px) {
  .sim-carousel {
    padding: 1rem 0.5rem;
  }
  .sim-carousel-card {
    flex-basis: 80%;
    max-width: 80%;
    padding: 0 0.3rem;
  }
  .sim-carousel-card .video-card-caption {
    font-size: 0.82rem;
  }
  .sim-carousel-arrow {
    width: 2.4rem;
    height: 2.4rem;
    font-size: 0.95rem;
  }
  .sim-carousel-prev {
    left: 0;
  }
  .sim-carousel-next {
    right: 0;
  }
}

.sim-video-stage {
  margin-top: 1.5rem;
}

.sim-video-aspect {
  width: 100%;
  max-width: 56rem;
  margin: 0 auto;
  aspect-ratio: 16 / 9;
  min-height: 320px;
}

.sim-video-aspect video {
  width: 100%;
  height: 100%;
  object-fit: contain;
  display: block;
  background: #000;
}

#sim-rollout-caption {
  margin-top: 1rem;
  font-size: 1.05rem;
}

.button.is-disabled-coming-soon {
  opacity: 0.6;
  cursor: not-allowed;
  pointer-events: none;
}

/* Overview video (Steerable Policies style) */
.overview-video-section {
  padding-top: 0;
  padding-bottom: 2rem;
}

.video-toggle-wrapper {
  position: relative;
  display: flex;
  flex-direction: column;
  align-items: center;
}

.video-toggle-wrapper .toggle-container {
  position: relative;
  margin-top: 1rem;
  margin-bottom: 0;
  width: 350px;
  max-width: 100%;
}

.video-wrapper {
  width: 100%;
  max-width: 960px;
  position: relative;   /* anchor injected video overlays to the video box */
}

.overview-video {
  width: 100%;
  height: auto;
  border-radius: 10px;
  display: block;
  background: #000;
}

.overview-video.is-hidden {
  display: none;
}

.overview-video-placeholder {
  aspect-ratio: 16 / 9;
  background: #f0f0f0;
  border: 2px dashed #ccc;
  display: flex;
  align-items: center;
  justify-content: center;
  color: #888;
  font-size: 1rem;
  text-align: center;
  padding: 1.5rem;
}

.overview-video-placeholder i {
  font-size: 2.5rem;
  margin-bottom: 0.75rem;
  display: block;
  color: #aaa;
}

#video-toggle {
  display: none;
}

.video-mode-slider {
  display: flex;
  position: relative;
  background: #ccc;
  border-radius: 25px;
  cursor: pointer;
  overflow: hidden;
  user-select: none;
  padding: 5px;
  margin: 0;
}

.video-mode-slider::after {
  content: '';
  position: absolute;
  top: 5px;
  left: var(--capsule-left, 5px);
  width: var(--capsule-width, calc(50% - 10px));
  height: calc(100% - 10px);
  background: #3273dc;
  border-radius: 25px;
  z-index: 0;
  transition: left 0.3s ease, width 0.3s ease;
}

.video-mode-slider .toggle-label {
  flex: 1;
  text-align: center;
  font-family: 'Google Sans', sans-serif;
  font-size: 0.95rem;
  position: relative;
  z-index: 1;
  padding: 8px 12px;
  white-space: nowrap;
  transition: color 0.3s ease, font-weight 0.3s ease;
  cursor: pointer;
}

#video-toggle:checked + .video-mode-slider .toggle-label.off {
  color: rgb(100, 100, 100);
  font-weight: 400;
}

#video-toggle:checked + .video-mode-slider .toggle-label.on {
  color: white;
  font-weight: 600;
}

#video-toggle:not(:checked) + .video-mode-slider .toggle-label.off {
  color: white;
  font-weight: 600;
}

#video-toggle:not(:checked) + .video-mode-slider .toggle-label.on {
  color: rgb(100, 100, 100);
  font-weight: 400;
}

.publication-subtitle {
  font-family: 'Google Sans', sans-serif;
  margin-top: 0.25rem;
  margin-bottom: 1rem;
}

.tagline {
  font-family: 'Google Sans', sans-serif;
  font-weight: 500;
  line-height: 1.5;
  max-width: 52rem;
  margin-left: auto;
  margin-right: auto;
}

.figure-wrap-block::after {
  content: "";
  display: table;
  clear: both;
}

.figure-float {
  margin-bottom: 1rem;
}

.figure-float img {
  width: 100%;
  border-radius: 10px;
}

.figure-float-right {
  float: right;
  width: 50%;
  margin-left: 1.5rem;
}

.figure-float-left {
  float: left;
  width: 50%;
  margin-right: 1.5rem;
}

.figure-float figcaption {
  text-align: center;
}

.figure-full {
  width: 100%;
  border-radius: 10px;
  display: block;
}

@media screen and (max-width: 768px) {
  .figure-float-right,
  .figure-float-left {
    float: none;
    width: 100%;
    margin-left: 0;
    margin-right: 0;
  }
}

/* Offline DSBC qualitative rollouts: main "Ours" clip on the left, the two
   comparison clips stacked on the right; the block spans the full content width.
   The columns are equal height (align-items: stretch), so the bottom labels
   ("Offline DSBC (Ours)" / "Standard Flow BC") line up. The main clip's box
   flex-grows to fill its column, making it as tall as the whole right column
   minus its own label = [base clip + "Base VLA" label + bottom clip]. */
.offline-videos {
  display: flex;
  align-items: stretch;
  gap: 0.8rem;
  width: 100%;
  margin: 0.5rem auto 0;
}

.offline-main {
  flex: 2 1 0;
  min-width: 0;
  display: flex;
  flex-direction: column;
}

.offline-main .offline-main-aspect {
  flex: 1 1 0;       /* grow to fill the (taller) right-column height */
  min-height: 0;
}

.offline-stack {
  flex: 1 1 0;
  min-width: 0;
  display: flex;
  flex-direction: column;
  gap: 0.8rem;
}

.offline-stack-cell {
  display: flex;
  flex-direction: column;
}

.offline-stack .video-aspect.ar169 { aspect-ratio: 16 / 9; }

.offline-videos .video-aspect video {
  width: 100%;
  height: 100%;
  object-fit: cover;
  display: block;
  background: #000;
}

.offline-text {
  max-width: 52rem;
  margin: 0.5rem auto 0;
  text-align: justify;
}

@media screen and (max-width: 768px) {
  .offline-videos { flex-direction: column; align-items: stretch; }
  .offline-main, .offline-stack { flex: 0 0 auto; width: 100%; }
  .offline-main .offline-main-aspect { aspect-ratio: 16 / 9; flex: 0 0 auto; }
}


.teaser .hero-body {
  padding-top: 0;
  padding-bottom: 3rem;
}

.teaser {
  font-family: 'Google Sans', sans-serif;
}


.publication-title {
}

.publication-banner {
  max-height: parent;

}

.publication-banner video {
  position: relative;
  left: auto;
  top: auto;
  transform: none;
  object-fit: fit;
}

.publication-header .hero-body {
}

.publication-title {
    font-family: 'Google Sans', sans-serif;
}

.publication-authors {
    font-family: 'Google Sans', sans-serif;
}

.publication-venue {
    color: #555;
    width: fit-content;
    font-weight: bold;
}

.publication-awards {
    color: #ff3860;
    width: fit-content;
    font-weight: bolder;
}

.publication-authors {
}

.publication-authors a {
   color: hsl(204, 86%, 53%) !important;
}

.publication-authors a:hover {
    text-decoration: underline;
}

.author-block {
  display: inline-block;
}

.publication-banner img {
}

.publication-authors {
  /*color: #4286f4;*/
}

.publication-video {
    position: relative;
    width: 100%;
    height: 0;
    padding-bottom: 56.25%;

    overflow: hidden;
    border-radius: 10px !important;
}

.publication-video iframe {
    position: absolute;
    top: 0;
    left: 0;
    width: 100%;
    height: 100%;
}

.publication-body img {
}

.results-carousel {
  overflow: hidden;
}

.results-carousel .item {
  margin: 5px;
  overflow: hidden;
  border: 1px solid #bbb;
  border-radius: 10px;
  padding: 0;
  font-size: 0;
}

.results-carousel video {
  margin: 0;
}


.interpolation-panel {
  background: #f5f5f5;
  border-radius: 10px;
}

.interpolation-panel .interpolation-image {
  width: 100%;
  border-radius: 5px;
}

.interpolation-video-column {
}

.interpolation-panel .slider {
  margin: 0 !important;
}

.interpolation-panel .slider {
  margin: 0 !important;
}

#interpolation-image-wrapper {
  width: 100%;
}
#interpolation-image-wrapper img {
  border-radius: 5px;
}

/* ---- hovering table of contents (left rail) ---------------------------- */
html { scroll-behavior: smooth; }
h2[id], h3[id] { scroll-margin-top: 1.5rem; }

#toc-nav {
  position: fixed;
  left: 1.75rem;
  top: 30%;
  transform: translateY(-50%);
  z-index: 60;
  display: flex;
  flex-direction: column;
  gap: 1.6rem;
  font-family: 'Roboto Mono', monospace;
  opacity: 0;
  transition: opacity 0.25s ease;
}

#toc-nav::before {            /* the line connecting the circles */
  content: "";
  position: absolute;
  left: 8px;
  top: 9px;
  bottom: 9px;
  width: 2px;
  background: #dcdcdc;
  z-index: -1;
}

.toc-item { display: flex; align-items: center; gap: 0.65rem; text-decoration: none; }

.toc-dot-wrap { width: 18px; height: 18px; flex: 0 0 18px; display: flex; align-items: center; justify-content: center; }

.toc-dot {
  width: 11px; height: 11px; border-radius: 50%;
  background: #fff; border: 2px solid #c2c2c2; box-sizing: border-box;
  transition: width 0.2s ease, height 0.2s ease, background 0.2s ease, border-color 0.2s ease;
}

.toc-label {                  /* always shown, small + greyed; the active one pops */
  font-size: 0.72rem; font-weight: 600; color: #b4b4b4; white-space: nowrap;
  transition: color 0.2s ease, font-weight 0.2s ease;
}

.toc-item:hover .toc-dot { border-color: #7a6db0; }
.toc-item:hover .toc-label { color: #666; }

.toc-item.active .toc-dot { width: 17px; height: 17px; background: #7a6db0; border-color: #7a6db0; }
.toc-item.active .toc-label { color: #7a6db0; font-weight: 700; }

@media (max-width: 1100px) { #toc-nav { display: none; } }

/* ---- DSRL example: a static (non-carousel) row of 5 rollout videos ------ */
.rl-vidbox {
  margin: 1.5rem 0 0.5rem;
  padding: 1.5rem;
  background: #f0f0f2;
  border-radius: 14px;
}

.rl-vidrow {
  display: grid;
  grid-template-columns: repeat(5, 1fr);
  gap: 0.7rem;
}

.rl-vid { display: flex; flex-direction: column; }

.rl-vid .video-aspect {
  aspect-ratio: 1 / 1;
  background: #111;
  border-radius: 8px;
  overflow: hidden;
  line-height: 0;
}

.rl-vid video { width: 100%; height: 100%; object-fit: cover; display: block; }

.rl-step {
  margin: 0.5rem 0 0;
  text-align: center;
  font-size: 0.85rem;
  font-weight: 700;
  font-family: 'Roboto Mono', monospace;
}
.rl-step.fail { color: #d64545; }
.rl-step.success { color: #3f9a47; }

.rl-caption {
  margin: 1.1rem auto 0;
  max-width: 48rem;
  text-align: center;
  font-size: 0.92rem;
  color: #555;
}

@media (max-width: 768px) { .rl-vidrow { grid-template-columns: repeat(2, 1fr); } }