/* Research editorial system: pale red paper, strong hierarchy, generous figures. */
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.abstract{font-size:16px;line-height:1.85;color:#53443f;margin:0;max-width:700px}.abstract p{margin:0 0 20px}.abstract p:last-child{margin-bottom:0}
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#architecture-mount img{display:block;width:100%;height:auto}
@media(max-width:800px){#architecture-mount img{min-width:900px}}

.intro .paper-title{margin-bottom:0}

#architecture-mount img{mix-blend-mode:multiply}

/* Unified page edges, figure-led explanation and separate evaluation sections. */
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.teaser-section{background:transparent;margin-bottom:0;padding-top:0;padding-bottom:24px}
#overview{display:block;padding-top:12px;padding-bottom:58px;border:0;max-width:1080px}
.core-equation{font-size:26px;font-weight:500;line-height:1.5;letter-spacing:-.6px;margin:0 0 20px;display:flex;flex-wrap:wrap;gap:0 12px}.core-equation>span:first-child{color:var(--red)}.core-equation b{font-weight:400;color:var(--red)}
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@media(max-width:800px){.intro,.teaser-section,.content-section{padding-left:28px;padding-right:28px}.demo-layout{grid-template-columns:1fr}.demo-tasks{display:grid;grid-template-columns:1fr 1fr}.demo-tasks button{padding:12px;font-size:13px}.core-equation{font-size:23px}}
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.benchmark-tabs{display:flex;gap:24px;border-bottom:1px solid var(--line);overflow-x:auto;margin:32px 0 16px}.benchmark-tabs button{flex:none;border:0;border-bottom:2px solid transparent;background:transparent;padding:12px 0;color:var(--muted);font-size:14px}.benchmark-tabs button[aria-selected=true]{color:var(--red);border-bottom-color:var(--red)}.benchmark-panel[hidden]{display:none}.benchmark-panel h3{font-size:18px;font-weight:500;margin:30px 0 0}.benchmark-panel .simulation-table{min-width:580px}.benchmark-panel:nth-last-child(1) .simulation-table{min-width:1000px}.benchmark-panel .simulation-table-wrap{margin-top:20px}.simulation-table tbody tr:hover{background:#00000003}
.demo-layout{grid-template-columns:minmax(0,1fr) 245px}.demo-tasks button{display:grid;grid-template-columns:88px 1fr;align-items:center;gap:4px 12px;padding:9px 10px;font-size:13px;min-height:65px}.demo-tasks button>span{display:none}.demo-tasks .task-preview{display:block;width:88px;height:50px;aspect-ratio:16/9;object-fit:cover;border-radius:2px;background:#eee}.robot-value{font-size:11px}#real-robot-chart{min-width:900px}.real-robot-scroll{overflow-x:auto}
@media(max-width:800px){.demo-layout{grid-template-columns:1fr}.demo-tasks button{grid-template-columns:78px 1fr;gap:10px}.demo-tasks .task-preview{width:78px;height:44px}}
@media(max-width:480px){.demo-tasks button{grid-template-columns:64px 1fr;font-size:11px;padding:8px 5px;gap:7px}.demo-tasks .task-preview{width:64px;height:38px}.benchmark-tabs{gap:18px}.benchmark-tabs button{font-size:12px}}
.benchmark-bars{display:grid;grid-template-rows:repeat(17,auto);grid-auto-flow:column;grid-template-columns:1fr 1fr;gap:7px 34px;margin-top:25px}.benchmark-bars[hidden]{display:none}.benchmark-bar-row{display:grid;grid-template-columns:155px minmax(40px,1fr) 53px;align-items:center;gap:10px;min-height:26px;font-size:11px}.benchmark-bar-name{overflow-wrap:anywhere;color:#655e59}.benchmark-bar-track{display:block;background:#e9e6e1;height:13px;border-radius:2px;overflow:hidden}.benchmark-bar-fill{display:block;height:100%;background:#aaa7a1;border-radius:2px}.benchmark-bar-number{text-align:right;font-weight:400;font-size:11px;font-variant-numeric:tabular-nums}.benchmark-bar-row.is-ours .benchmark-bar-fill{background:var(--red)}.benchmark-bar-row.is-ours .benchmark-bar-name,.benchmark-bar-row.is-ours .benchmark-bar-number{color:var(--red);font-weight:700}.benchmark-bar-row:hover .benchmark-bar-fill{filter:brightness(.87)}.benchmark-setting{display:flex;flex-wrap:wrap;gap:18px;margin-top:22px}.benchmark-setting button{background:none;border:0;border-bottom:1px solid transparent;color:var(--muted);font-size:12px;padding:8px 0}.benchmark-setting button[aria-pressed=true]{color:var(--red);border-color:var(--red)}
@media(max-width:800px){.benchmark-bars{grid-template-columns:1fr;grid-template-rows:none;grid-auto-flow:row;gap:8px}.benchmark-bar-row{grid-template-columns:145px minmax(40px,1fr) 52px}}

.benchmark-bars.single-column{grid-template-columns:1fr;grid-auto-flow:row;max-width:800px}.benchmark-bars.single-column .benchmark-bar-row{min-height:30px}@media(max-width:800px){.benchmark-bars{grid-template-rows:none!important}}

.benchmark-bars.vertical-benchmark{display:block;max-width:100%;overflow-x:auto;margin-top:25px}.benchmark-bars.vertical-benchmark[hidden]{display:none}.vertical-benchmark svg{display:block;width:100%;height:auto}.benchmark-tick,.benchmark-column-value{font:11px Arial,sans-serif}.benchmark-axis-title,.benchmark-column-name{font:12px Arial,sans-serif}.simulation-column:hover rect,.simulation-column:focus rect{filter:brightness(.85)}

.benchmark-family{font:600 14px Arial,sans-serif;fill:#635e58}.vertical-benchmark svg{margin:0 auto}.vertical-benchmark .table-key{white-space:normal}

#demo-clips[hidden]{display:none}

/* Compact benchmark tables with internal scrolling. */
.benchmark-bars.compact-benchmark{display:block;max-width:100%;max-height:430px;overflow:auto;margin-top:20px;border-bottom:1px solid var(--line);scrollbar-width:thin}.benchmark-bars.compact-benchmark[hidden]{display:none}.compact-benchmark .simulation-table{min-width:560px;margin:0;width:100%}.compact-benchmark .simulation-table th,.compact-benchmark .simulation-table td{padding:10px 12px;font-size:12px;line-height:1.4}.compact-benchmark .simulation-table thead{position:sticky;top:0;z-index:2;background:var(--page-bg)}.compact-benchmark .simulation-table thead th{border-bottom:1px solid #cfc9c2}.compact-benchmark .simulation-table .benchmark-group-row th{text-align:left;background:#edeae5;color:#665d56;font-size:11px;font-weight:650;letter-spacing:.7px;padding:7px 12px}.compact-benchmark .simulation-table .ours th,.compact-benchmark .simulation-table .ours td{background:#f9eeea}.benchmark-panel:last-child .compact-benchmark .simulation-table{min-width:950px}@media(max-width:649px){.benchmark-bars.compact-benchmark{max-height:390px}}

.compact-benchmark[data-columns="2"]{width:520px;max-width:100%}.compact-benchmark[data-columns="3"]{width:680px;max-width:100%}.compact-benchmark[data-columns="4"]{width:780px;max-width:100%}.compact-benchmark[data-columns="2"] .simulation-table{min-width:0;table-layout:fixed}.compact-benchmark[data-columns="2"] .simulation-table th:first-child:not([colspan]){width:56%}.compact-benchmark[data-columns="2"] .simulation-table th,.compact-benchmark[data-columns="2"] .simulation-table td{padding-left:16px;padding-right:16px}.compact-benchmark[data-columns="2"] .simulation-table thead th:last-child{white-space:normal}

@media(min-width:801px){.demo-layout{grid-template-columns:245px minmax(0,1fr)}.demo-layout>.demo-tasks{grid-column:1;grid-row:1}.demo-layout>#demo-panel{grid-column:2;grid-row:1}}

@media(min-width:801px){#results{display:grid;grid-template-columns:170px minmax(0,1fr);column-gap:28px;align-items:start}#results>.section-heading{grid-column:1/-1}#results>.benchmark-tabs{grid-column:1;grid-row:2/4;display:flex;flex-direction:column;gap:0;margin:12px 0 0;border:0;overflow:visible}#results>.benchmark-tabs button{text-align:left;padding:15px 14px;border-bottom:1px solid var(--line);border-left:2px solid transparent;font-size:13px}#results>.benchmark-tabs button[aria-selected=true]{border-left-color:var(--red);background:#e1251b08}#results>.table-key{grid-column:2;grid-row:2;margin-top:12px}#results>.benchmark-panel{grid-column:2;grid-row:3;min-width:0}#results .benchmark-setting{margin-top:8px}#results .compact-benchmark{max-width:100%}}

.video-speed{display:flex;align-items:center;gap:8px;margin-left:auto;font-size:12px;color:var(--muted)}.video-speed select{font:inherit;padding:6px 9px;background:transparent;border:1px solid var(--line);border-radius:3px;color:var(--ink)}