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

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

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

.dwh0 {
  font-variant: small-caps;
  font-weight: 600;
}

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

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

.teaser video {
  object-fit: contain;
  border-radius: 10px;
}

.publication-title {
  font-family: 'Google Sans', sans-serif;
  /* Main title size — change this value to resize the hero title on desktop */
  font-size: 3rem;
  max-width: 1280px;
  width: 100%;
  margin-left: auto;
  margin-right: auto;
  padding: 0 1.25rem;
  box-sizing: border-box;
}

.publication-title .title-line {
  display: block;
}

@media screen and (min-width: 900px) {
  .publication-title .title-line {
    white-space: nowrap;
  }
}

@media screen and (max-width: 1024px) {
  .publication-title.title.is-1 {
    font-size: 2.25rem;
  }
}

@media screen and (max-width: 768px) {
  .publication-title.title.is-1 {
    font-size: 1.75rem;
  }
}

.conference-authors {
  color: #888;
}

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

.publication-authors a {
  color: hsl(121, 100%, 36%) !important;
}

.conference-authors a {
  color: #B83A4B !important;
}

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

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

.publication-affiliations {
  color: #666;
  margin-top: 0.5rem;
}

.publication-footnotes {
  color: #888;
  margin-top: 0.5rem;
}

.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%;
}

.justify {
  text-align: justify;
}

.figure-caption {
  margin-top: 0.75rem;
  color: #555;
  font-size: 0.95rem;
}

.results-figure {
  max-width: 960px;
  margin: 0 auto;
}

.results-figure .section-image {
  margin-bottom: 1.5rem;
}

.results-table {
  width: 100%;
  margin: 0 auto 1.25rem;
  font-size: 1.05rem;
}

.results-table th,
.results-table td {
  text-align: center;
  vertical-align: middle;
  padding: 0.9rem 1.1rem;
  line-height: 1.45;
}

.results-table thead th {
  font-size: 1rem;
  padding: 1rem 1.1rem;
}

.results-table .method-name {
  text-align: left;
  font-weight: 600;
  padding-left: 1.25rem;
}

.results-table .success-rate sub {
  font-size: 0.75em;
  color: #666;
}

.results-figure .figure-caption {
  max-width: none;
  font-size: 1rem;
  line-height: 1.55;
}

.highlight-row {
  background-color: #f0faf0;
}

.stat-card {
  background: #f8f9fa;
  border-radius: 12px;
  padding: 1.25rem;
  text-align: center;
  height: 100%;
}

.stat-card .stat-value {
  font-size: 2rem;
  font-weight: 700;
  color: #2e7d32;
}

.stat-card .stat-label {
  color: #666;
  font-size: 0.9rem;
  margin-top: 0.25rem;
}

.section-image {
  display: block;
  width: 100%;
  max-width: 960px;
  height: auto;
  margin: 0 auto;
  background: transparent;
  cursor: zoom-in;
}

.image-lightbox {
  display: none;
  position: fixed;
  inset: 0;
  z-index: 1000;
  align-items: center;
  justify-content: center;
  padding: 2rem;
  background: rgba(0, 0, 0, 0.88);
}

.image-lightbox.active {
  display: flex;
}

.image-lightbox img {
  max-width: min(96vw, 1400px);
  max-height: 92vh;
  width: auto;
  height: auto;
  border-radius: 6px;
  box-shadow: 0 8px 32px rgba(0, 0, 0, 0.35);
}

.lightbox-close {
  position: absolute;
  top: 1rem;
  right: 1.25rem;
  border: none;
  background: transparent;
  color: #fff;
  font-size: 2.5rem;
  line-height: 1;
  cursor: pointer;
  opacity: 0.85;
}

.lightbox-close:hover {
  opacity: 1;
}

.bibtex-block {
  background: #f5f5f5;
  border-radius: 8px;
  padding: 1rem 1.25rem;
  font-family: 'Courier New', monospace;
  font-size: 0.85rem;
  overflow-x: auto;
  text-align: left;
}

/* Carousel section backgrounds */
.carousel-section-wmh {
  background: linear-gradient(180deg, #eef5fc 0%, #f7fbff 100%);
}

.carousel-section-wmh-wo-sa {
  background: linear-gradient(180deg, #fff3e0 0%, #fffaf3 100%);
}

.carousel-section-wmh-ea {
  background: linear-gradient(180deg, #f3e5f5 0%, #faf0fc 100%);
  padding-bottom: 1.5rem;
}

.carousel-section-wmh .carousel-slide-inner {
  border-color: #bbdefb;
  box-shadow: 0 4px 16px rgba(21, 101, 192, 0.12);
}

.carousel-section-wmh-wo-sa .carousel-slide-inner {
  border-color: #ffcc80;
  box-shadow: 0 4px 16px rgba(230, 81, 0, 0.12);
}

.carousel-section-wmh-ea .carousel-slide-inner {
  border-color: #e1bee7;
  box-shadow: 0 4px 16px rgba(106, 27, 154, 0.12);
}

.carousel-section-wmh .carousel-slide-inner,
.carousel-section-wmh-wo-sa .carousel-slide-inner,
.carousel-section-wmh-ea .carousel-slide-inner {
  display: flex;
  flex-direction: column;
}

.carousel-section-wmh .carousel-slide video,
.carousel-section-wmh-wo-sa .carousel-slide video,
.carousel-section-wmh-ea .carousel-slide video {
  aspect-ratio: 16 / 9;
  object-fit: cover;
  background: #000;
}

.carousel-section-wmh .carousel-caption,
.carousel-section-wmh-wo-sa .carousel-caption,
.carousel-section-wmh-ea .carousel-caption {
  flex-shrink: 0;
  height: 5.25rem;
  justify-content: center;
  box-sizing: border-box;
}

.carousel-section-wmh-wo-sa .carousel-caption {
  height: 6.5rem;
}

.carousel-section-wmh .carousel-caption .caption-text,
.carousel-section-wmh-ea .carousel-caption .caption-text {
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-line-clamp: 2;
  overflow: hidden;
  min-height: 2.5rem;
}

.carousel-section-wmh-wo-sa .carousel-caption .caption-text {
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-line-clamp: 3;
  overflow: hidden;
  min-height: 3.75rem;
}

.carousel-section-wmh-wo-sa .carousel-dot.active {
  background: #e65100;
}

.carousel-section-wmh-ea .carousel-dot.active {
  background: #6a1b9a;
}

.carousel-section-wmh .carousel-dot.active {
  background: #1565c0;
}

/* Video Carousel */
.video-carousel {
  position: relative;
  max-width: 1100px;
  margin: 0 auto;
  padding: 0 3rem;
  user-select: none;
  touch-action: pan-y;
}

.carousel-viewport {
  overflow: hidden;
  border-radius: 10px;
}

.carousel-track {
  display: flex;
  transition: transform 0.4s ease;
  will-change: transform;
}

.carousel-slide {
  padding: 5px;
  box-sizing: border-box;
}

.carousel-slide-inner {
  overflow: hidden;
  border: 1px solid #d8e8d8;
  border-radius: 12px;
  background: #000;
  box-shadow: 0 4px 16px rgba(30, 80, 40, 0.12);
}

.carousel-slide video {
  display: block;
  width: 100%;
  height: auto;
  pointer-events: none;
}

.carousel-caption {
  display: flex;
  flex-direction: column;
  align-items: center;
  gap: 0.35rem;
  margin: 0;
  padding: 0.75rem 1rem 0.85rem;
  text-align: center;
}

.carousel-caption .caption-label {
  display: inline-block;
  padding: 0.15rem 0.55rem;
  border-radius: 999px;
  color: #fff;
  font-size: 0.68rem;
  font-weight: 600;
  letter-spacing: 0.06em;
  text-transform: uppercase;
}

.caption-robot .caption-label {
  background: #2e7d32;
}

.caption-robot {
  background: linear-gradient(135deg, #e8f5e9 0%, #f1f8f2 100%);
  border-top: 2px solid #66bb6a;
}

.caption-robot .caption-text {
  color: #1b4332;
}

.caption-wmh .caption-label {
  background: #1565c0;
}

.caption-wmh {
  background: linear-gradient(135deg, #e3f2fd 0%, #f0f7ff 100%);
  border-top: 2px solid #a0d0f7;
}

.caption-wmh .caption-text {
  color: #0d3b66;
}

.caption-wmh-wo-sa .caption-label {
  background: #e65100;
}

.caption-wmh-wo-sa {
  background: linear-gradient(135deg, #fff3e0 0%, #fff8f0 100%);
  border-top: 2px solid #ffcc80;
}

.caption-wmh-wo-sa .caption-text {
  color: #bf360c;
}

.caption-wmh-ea .caption-label {
  background: #6a1b9a;
}

.caption-wmh-ea {
  background: linear-gradient(135deg, #f3e5f5 0%, #faf4fb 100%);
  border-top: 2px solid #ba68c8;
}

.caption-wmh-ea .caption-text {
  color: #4a148c;
}

.carousel-caption .caption-text {
  font-size: 0.92rem;
  font-weight: 500;
  line-height: 1.35;
  font-style: italic;
}

.carousel-btn {
  position: absolute;
  top: 40%;
  transform: translateY(-50%);
  z-index: 2;
  width: 2.5rem;
  height: 2.5rem;
  border: none;
  border-radius: 50%;
  background: rgba(0, 0, 0, 0.55);
  color: #fff;
  font-size: 1.5rem;
  line-height: 1;
  cursor: pointer;
  transition: background 0.2s;
}

.carousel-btn:hover {
  background: rgba(0, 0, 0, 0.75);
}

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

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

.carousel-dots {
  display: flex;
  justify-content: center;
  flex-wrap: wrap;
  gap: 0.4rem;
  margin-top: 1rem;
}

.carousel-dot {
  width: 10px;
  height: 10px;
  border: none;
  border-radius: 50%;
  background: #ccc;
  cursor: pointer;
  padding: 0;
  transition: background 0.2s, transform 0.2s;
}

.carousel-dot.active {
  background: #2e7d32;
  transform: scale(1.2);
}

@media screen and (max-width: 768px) {
  .video-carousel {
    padding: 0 2.5rem;
  }

  .carousel-btn {
    width: 2rem;
    height: 2rem;
    font-size: 1.2rem;
  }
}

/* WM-H Pipeline Animation */
.pipeline-section {
  background: linear-gradient(180deg, #fafbfc 0%, #f0f4f8 100%);
  padding-bottom: 3rem;
}

.policy-section {
  padding-top: 3rem;
  border-top: 1px solid #e0e0e0;
}

.carousel-summary {
  max-width: 760px;
  margin: 1.25rem auto 0;
  text-align: center;
  line-height: 1.55;
}

.carousel-summary-block {
  display: block;
}

.carousel-summary-block + .carousel-summary-block {
  margin-top: 0.85rem;
}

.carousel-summary strong {
  color: #333;
}

.wmh-pipeline {
  max-width: 960px;
  margin: 0 auto;
  text-align: left;
}

.pipeline-timeline {
  position: relative;
  display: flex;
  justify-content: space-between;
  align-items: flex-start;
  margin-bottom: 1.5rem;
  padding: 0 0.25rem;
}

.pipeline-track {
  position: absolute;
  top: 1.1rem;
  left: 8%;
  right: 8%;
  height: 4px;
  background: #dde3ea;
  border-radius: 2px;
  overflow: visible;
  z-index: 0;
}

.pipeline-track-fill {
  height: 100%;
  width: 0%;
  background: linear-gradient(90deg, #1565c0, #2e7d32);
  border-radius: 2px;
  transition: width 0.6s cubic-bezier(0.4, 0, 0.2, 1);
}

.pipeline-packet {
  position: absolute;
  top: 50%;
  left: 0%;
  width: 14px;
  height: 14px;
  margin: -7px 0 0 -7px;
  background: #2e7d32;
  border: 2px solid #fff;
  border-radius: 50%;
  box-shadow: 0 0 12px rgba(46, 125, 50, 0.6);
  transition: left 0.6s cubic-bezier(0.4, 0, 0.2, 1);
  z-index: 2;
}

.pipeline-step {
  position: relative;
  z-index: 1;
  display: flex;
  flex-direction: column;
  align-items: center;
  gap: 0.35rem;
  width: 15%;
  padding: 0;
  border: none;
  background: none;
  cursor: pointer;
  transition: transform 0.2s;
}

.pipeline-step:hover {
  transform: translateY(-2px);
}

.pipeline-step .step-num {
  display: flex;
  align-items: center;
  justify-content: center;
  width: 2.2rem;
  height: 2.2rem;
  border-radius: 50%;
  background: #fff;
  border: 2px solid #c5cdd8;
  color: #888;
  font-size: 0.85rem;
  font-weight: 700;
  transition: all 0.35s ease;
}

.pipeline-step .step-label {
  font-size: 0.68rem;
  color: #888;
  font-weight: 500;
  text-align: center;
  line-height: 1.2;
  transition: color 0.35s;
}

.pipeline-step.active .step-num,
.pipeline-step.done .step-num {
  border-color: #1565c0;
  background: #1565c0;
  color: #fff;
  box-shadow: 0 2px 10px rgba(21, 101, 192, 0.35);
}

.pipeline-step.active .step-num {
  animation: step-pulse 2.5s ease-in-out infinite;
}

.pipeline-step.done .step-num {
  background: #2e7d32;
  border-color: #2e7d32;
  animation: none;
}

.pipeline-step.active .step-label,
.pipeline-step.done .step-label {
  color: #333;
  font-weight: 600;
}

@keyframes step-pulse {
  0%, 100% { box-shadow: 0 2px 10px rgba(21, 101, 192, 0.35); }
  50% { box-shadow: 0 2px 18px rgba(21, 101, 192, 0.55); }
}

.pipeline-stage {
  position: relative;
  min-height: 340px;
  border-radius: 14px;
  background: #1a1a2e;
  overflow: hidden;
  box-shadow: 0 4px 24px rgba(0, 0, 0, 0.12);
}

.pipeline-panel {
  position: absolute;
  inset: 0;
  opacity: 0;
  visibility: hidden;
  transform: translateX(30px);
  transition: opacity 0.45s ease, transform 0.45s ease, visibility 0.45s;
  padding: 1.25rem;
}

.pipeline-panel.active {
  opacity: 1;
  visibility: visible;
  transform: translateX(0);
}

.pipeline-panel.exit-left {
  transform: translateX(-30px);
}

/* Step 1: Instruction */
.panel-instruction {
  display: flex;
  flex-direction: column;
  justify-content: center;
  height: 100%;
  gap: 1.5rem;
  color: #e8eaf0;
}

.dual-agent-row {
  display: flex;
  align-items: center;
  justify-content: center;
  gap: 1rem;
}

.agent-card {
  flex: 1;
  max-width: 220px;
  padding: 1rem;
  border-radius: 10px;
  background: rgba(255, 255, 255, 0.06);
  border: 1px solid rgba(255, 255, 255, 0.1);
  text-align: center;
}

.agent-icon {
  display: block;
  font-size: 1.4rem;
  color: #64b5f6;
  margin-bottom: 0.4rem;
}

.agent-name {
  display: block;
  font-weight: 700;
  font-size: 0.9rem;
}

.agent-role {
  display: block;
  font-size: 0.75rem;
  color: #9aa5b8;
  margin-bottom: 0.6rem;
}

.agent-chips {
  display: flex;
  flex-wrap: wrap;
  gap: 0.3rem;
  justify-content: center;
}

.chip {
  padding: 0.15rem 0.5rem;
  border-radius: 999px;
  font-size: 0.68rem;
  font-weight: 600;
  opacity: 0;
  transform: scale(0.5);
  animation: chip-pop 0.4s ease forwards;
}

.chip-noun {
  background: rgba(100, 181, 246, 0.25);
  color: #90caf9;
}

.chip-adj {
  background: rgba(186, 104, 200, 0.25);
  color: #ce93d8;
}

.chip:nth-child(1) { animation-delay: 0.3s; }
.chip:nth-child(2) { animation-delay: 0.6s; }
.chip:nth-child(3) { animation-delay: 0.9s; }
.chip:nth-child(4) { animation-delay: 1.2s; }

@keyframes chip-pop {
  to { opacity: 1; transform: scale(1); }
}

.freq-bars {
  display: flex;
  align-items: flex-end;
  justify-content: center;
  gap: 4px;
  height: 40px;
}

.freq-bars span {
  width: 10px;
  height: var(--h);
  background: linear-gradient(180deg, #66bb6a, #2e7d32);
  border-radius: 2px 2px 0 0;
  animation: bar-grow 0.6s ease forwards;
  transform-origin: bottom;
  transform: scaleY(0);
}

.freq-bars span:nth-child(1) { animation-delay: 0.2s; }
.freq-bars span:nth-child(2) { animation-delay: 0.35s; }
.freq-bars span:nth-child(3) { animation-delay: 0.5s; }
.freq-bars span:nth-child(4) { animation-delay: 0.65s; }
.freq-bars span:nth-child(5) { animation-delay: 0.8s; }

@keyframes bar-grow {
  to { transform: scaleY(1); }
}

.agent-arrow {
  color: #64b5f6;
  font-size: 1.2rem;
  animation: arrow-bounce 1s ease-in-out infinite;
}

@keyframes arrow-bounce {
  0%, 100% { transform: translateX(0); }
  50% { transform: translateX(4px); }
}

.instruction-output {
  text-align: center;
  padding: 0.85rem 1.25rem;
  border-radius: 8px;
  background: rgba(21, 101, 192, 0.15);
  border: 1px solid rgba(100, 181, 246, 0.3);
  font-family: 'Courier New', monospace;
  font-size: 0.95rem;
}

.output-prefix {
  color: #64b5f6;
  margin-right: 0.5rem;
}

.typing-cursor {
  color: #66bb6a;
  animation: blink 0.8s step-end infinite;
}

@keyframes blink {
  50% { opacity: 0; }
}

/* Step 2: Scene */
.panel-scene {
  height: 100%;
  display: flex;
  align-items: center;
  justify-content: center;
}

.scene-compare {
  display: flex;
  align-items: center;
  gap: 1rem;
  width: 100%;
}

.scene-frame {
  flex: 1;
  position: relative;
  border-radius: 8px;
  overflow: hidden;
  aspect-ratio: 4/3;
}

.scene-frame img {
  width: 100%;
  height: 100%;
  object-fit: cover;
  display: block;
}

.scene-before img {
  filter: saturate(0.7);
}

.scene-after {
  animation: scene-reveal 3.5s ease-in-out infinite alternate;
}

@keyframes scene-reveal {
  0% { opacity: 0.6; transform: scale(0.97); }
  100% { opacity: 1; transform: scale(1); }
}

.frame-tag {
  position: absolute;
  bottom: 0;
  left: 0;
  right: 0;
  padding: 0.35rem;
  background: rgba(0, 0, 0, 0.65);
  color: #fff;
  font-size: 0.72rem;
  font-weight: 600;
  text-align: center;
}

.scene-morph-arrow {
  display: flex;
  flex-direction: column;
  align-items: center;
  gap: 0.3rem;
  color: #ce93d8;
  font-size: 0.72rem;
  font-weight: 600;
  flex-shrink: 0;
}

.scene-morph-arrow i {
  font-size: 1.4rem;
  animation: magic-spin 2s linear infinite;
}

@keyframes magic-spin {
  0% { transform: rotate(0deg) scale(1); }
  50% { transform: rotate(180deg) scale(1.15); }
  100% { transform: rotate(360deg) scale(1); }
}

/* Step 3 & 4: Video panels */
.panel-video,
.panel-embodiment {
  height: 100%;
  display: flex;
  align-items: center;
  justify-content: center;
}

.panel-video {
  position: relative;
  flex-direction: column;
  gap: 0.65rem;
  padding: 0.85rem 1rem 1rem;
}

.panel-video .pipeline-video {
  flex: 1;
  max-height: 200px;
}

.pipeline-video {
  width: 100%;
  max-height: 300px;
  object-fit: contain;
  border-radius: 6px;
}

.video-overlay-badge,
.motion-badge {
  position: absolute;
  bottom: 0.75rem;
  left: 50%;
  transform: translateX(-50%);
  padding: 0.35rem 0.85rem;
  border-radius: 999px;
  background: rgba(0, 0, 0, 0.7);
  color: #fff;
  font-size: 0.75rem;
  font-weight: 600;
  white-space: nowrap;
}

.panel-video .video-overlay-badge {
  bottom: auto;
  top: 0.65rem;
  left: 0.65rem;
  transform: none;
}

.qwen-augment-card {
  width: 100%;
  padding: 0.65rem 0.85rem;
  border-radius: 8px;
  background: rgba(21, 101, 192, 0.12);
  border: 1px solid rgba(100, 181, 246, 0.3);
  text-align: left;
}

.qwen-augment-header {
  display: flex;
  align-items: center;
  gap: 0.4rem;
  margin-bottom: 0.45rem;
  color: #90caf9;
  font-size: 0.72rem;
  font-weight: 700;
  letter-spacing: 0.02em;
}

.qwen-augment-header code {
  padding: 0.1rem 0.35rem;
  border-radius: 4px;
  background: rgba(100, 181, 246, 0.2);
  color: #bbdefb;
  font-size: 0.68rem;
}

.qwen-augment-text {
  margin: 0;
  color: #cfd8e3;
  font-size: 0.72rem;
  line-height: 1.5;
  font-style: italic;
  min-height: 3.6em;
}

.qwen-augment-text::after {
  content: '|';
  color: #66bb6a;
  animation: blink 0.8s step-end infinite;
  margin-left: 1px;
}

.qwen-augment-text.done::after {
  display: none;
}

.embodiment-split {
  display: flex;
  align-items: center;
  gap: 0.75rem;
  width: 100%;
}

.embodiment-side {
  flex: 1;
  position: relative;
  border-radius: 8px;
  overflow: hidden;
}

.embodiment-side .pipeline-video {
  width: 100%;
  max-height: 280px;
}

.embodiment-tag {
  position: absolute;
  top: 0.5rem;
  left: 0.5rem;
  padding: 0.2rem 0.55rem;
  border-radius: 999px;
  font-size: 0.68rem;
  font-weight: 700;
  color: #fff;
}

.human-tag { background: #1565c0; }
.robot-tag { background: #6a1b9a; }

.embodiment-morph {
  display: flex;
  flex-direction: column;
  align-items: center;
  gap: 0.3rem;
  color: #ce93d8;
  font-size: 0.68rem;
  font-weight: 600;
  flex-shrink: 0;
}

.embodiment-morph i {
  font-size: 1.4rem;
  animation: arrow-bounce 1s ease-in-out infinite;
}

/* Step 5: Motion */
.panel-motion {
  height: 100%;
  display: flex;
  flex-direction: column;
  align-items: center;
  justify-content: center;
  position: relative;
}

.motion-video {
  width: 100%;
  max-height: 300px;
  object-fit: contain;
  border-radius: 6px;
}

.panel-motion .motion-badge {
  position: absolute;
  bottom: 0.75rem;
  left: 50%;
  transform: translateX(-50%);
  margin-top: 0;
}

/* Step 6: Output */
.panel-output {
  height: 100%;
  display: flex;
  flex-direction: column;
  align-items: center;
  justify-content: center;
  gap: 1rem;
  color: #e8eaf0;
  padding: 1rem 1.5rem;
}

.scale-badge {
  display: inline-flex;
  align-items: center;
  gap: 0.45rem;
  padding: 0.35rem 0.85rem;
  border-radius: 999px;
  background: rgba(21, 101, 192, 0.2);
  border: 1px solid rgba(100, 181, 246, 0.35);
  color: #90caf9;
  font-size: 0.78rem;
  font-weight: 600;
}

.scale-badge i {
  font-size: 0.9rem;
}

.output-episodes {
  text-align: center;
}

.episode-counter {
  display: block;
  font-size: 3.2rem;
  font-weight: 800;
  color: #66bb6a;
  font-variant-numeric: tabular-nums;
  line-height: 1;
}

.episode-label {
  font-size: 1rem;
  color: #9aa5b8;
  font-weight: 500;
}

.scale-bar-wrap {
  position: relative;
  width: 100%;
  max-width: 420px;
  height: 8px;
  background: rgba(255, 255, 255, 0.08);
  border-radius: 4px;
  overflow: visible;
}

.scale-bar-fill {
  height: 100%;
  width: 0%;
  background: linear-gradient(90deg, #1565c0, #66bb6a);
  border-radius: 4px;
  transition: width 0.05s linear;
}

.scale-tick {
  position: absolute;
  top: 14px;
  font-size: 0.68rem;
  color: #9aa5b8;
  font-weight: 600;
  transform: translateX(-50%);
}

.scale-tick-1k { left: 2%; }
.scale-tick-50k { left: 100%; }

.gpu-cost-row {
  display: flex;
  align-items: center;
  justify-content: center;
  gap: 1rem;
  flex-wrap: wrap;
}

.gpu-cost-unit,
.gpu-cost-total {
  text-align: center;
  min-width: 110px;
}

.gpu-unit-value {
  display: block;
  font-size: 1.5rem;
  font-weight: 700;
  color: #64b5f6;
  font-variant-numeric: tabular-nums;
}

.gpu-hours-counter {
  display: block;
  font-size: 1.5rem;
  font-weight: 700;
  color: #66bb6a;
  font-variant-numeric: tabular-nums;
}

.gpu-unit-label {
  display: block;
  font-size: 0.72rem;
  color: #9aa5b8;
  margin-top: 0.15rem;
}

.scale-op {
  font-size: 1.1rem;
  font-weight: 700;
  color: #ce93d8;
}

.scale-contrast {
  display: flex;
  gap: 0.6rem;
  flex-wrap: wrap;
  justify-content: center;
}

.contrast-no,
.contrast-yes {
  display: inline-flex;
  align-items: center;
  gap: 0.35rem;
  padding: 0.3rem 0.65rem;
  border-radius: 999px;
  font-size: 0.72rem;
  font-weight: 600;
}

.contrast-no {
  background: rgba(255, 255, 255, 0.05);
  border: 1px solid rgba(255, 255, 255, 0.1);
  color: #9aa5b8;
}

.contrast-yes {
  background: rgba(102, 187, 106, 0.15);
  border: 1px solid rgba(102, 187, 106, 0.35);
  color: #a5d6a7;
  animation: contrast-pulse 4s ease-in-out infinite;
}

@keyframes contrast-pulse {
  0%, 100% { box-shadow: 0 0 0 rgba(102, 187, 106, 0); }
  50% { box-shadow: 0 0 12px rgba(102, 187, 106, 0.25); }
}

/* Caption & controls */
.pipeline-caption {
  margin-top: 1.25rem;
  text-align: center;
}

.pipeline-step-title {
  font-size: 1.15rem;
  font-weight: 700;
  color: #333;
  margin-bottom: 0.35rem;
}

.pipeline-step-desc {
  font-size: 0.92rem;
  color: #555;
  line-height: 1.5;
  max-width: 720px;
  margin: 0 auto;
}

.pipeline-controls {
  display: flex;
  justify-content: center;
  gap: 0.5rem;
  margin-top: 1rem;
}

.pipeline-ctrl {
  width: 2.4rem;
  height: 2.4rem;
  border: none;
  border-radius: 50%;
  background: #e8edf2;
  color: #444;
  cursor: pointer;
  transition: background 0.2s, transform 0.2s;
  display: flex;
  align-items: center;
  justify-content: center;
}

.pipeline-ctrl:hover {
  background: #d0d8e0;
  transform: scale(1.05);
}

.pipeline-ctrl.play-pause {
  width: 2.8rem;
  height: 2.8rem;
  background: #1565c0;
  color: #fff;
}

.pipeline-ctrl.play-pause:hover {
  background: #0d47a1;
}

@media screen and (max-width: 768px) {
  .pipeline-step .step-label {
    font-size: 0.58rem;
  }

  .pipeline-step .step-num {
    width: 1.8rem;
    height: 1.8rem;
    font-size: 0.75rem;
  }

  .pipeline-stage {
    min-height: 280px;
  }

  .dual-agent-row {
    flex-direction: column;
  }

  .agent-arrow {
    transform: rotate(90deg);
  }

  .scene-compare {
    flex-direction: column;
  }

  .scene-morph-arrow {
    flex-direction: row;
    gap: 0.5rem;
  }

  .embodiment-split {
    flex-direction: column;
  }

  .embodiment-morph {
    flex-direction: row;
    gap: 0.5rem;
  }

  .episode-counter {
    font-size: 2.4rem;
  }

  .panel-video .pipeline-video {
    max-height: 160px;
  }

  .qwen-augment-text {
    font-size: 0.66rem;
  }
}

/* Policy Figure Animation */
.policy-figure {
  max-width: 960px;
  margin: 0 auto 1.5rem;
  background: transparent;
  overflow: visible;
}

.policy-figure-inner {
  position: relative;
  width: 100%;
  aspect-ratio: 2400 / 1439;
}

.policy-figure-base {
  display: block;
  width: 100%;
  height: 100%;
  object-fit: contain;
}

.policy-hand-state {
  position: absolute;
  left: 67%;
  top: 22%;
  width: 14%;
  z-index: 2;
}

.policy-hand-state img {
  width: 100%;
  height: auto;
  display: block;
  animation: policy-state-pulse 3.2s ease-in-out infinite;
}

.policy-hand-action {
  position: absolute;
  left: 58%;
  top: 1%;
  width: 37%;
  height: 17%;
  z-index: 2;
}

.policy-hand-action img {
  width: 100%;
  height: 100%;
  object-fit: contain;
  animation: policy-action-reveal 4.5s ease-in-out infinite;
}

.policy-denoise-beam {
  position: absolute;
  left: 72%;
  top: 18%;
  width: 10%;
  height: 14%;
  z-index: 1;
  pointer-events: none;
  background: linear-gradient(
    145deg,
    transparent 30%,
    rgba(232, 148, 72, 0.15) 45%,
    rgba(232, 148, 72, 0.55) 50%,
    rgba(232, 148, 72, 0.15) 55%,
    transparent 70%
  );
  background-size: 220% 220%;
  animation: policy-beam-sweep 4.5s ease-in-out infinite;
  filter: blur(1px);
  border-radius: 40%;
}

.policy-donut {
  position: absolute;
  width: 17.5%;
  aspect-ratio: 1;
  z-index: 3;
}

.policy-donut::before {
  content: '';
  position: absolute;
  inset: 10%;
  border-radius: 50%;
  background: #fff;
  box-shadow: 0 0 0 1px rgba(0, 0, 0, 0.04);
}

.policy-donut svg {
  position: relative;
  width: 100%;
  height: 100%;
  transform: rotate(-90deg);
  z-index: 1;
}

.policy-donut .donut-seg {
  fill: none;
  stroke-width: 14;
  stroke-linecap: butt;
  transition: stroke-width 0.35s ease, filter 0.35s ease;
}

.policy-donut-4 .donut-seg.seg-active {
  stroke-width: 18;
  filter: drop-shadow(0 0 4px rgba(123, 94, 167, 0.45));
}

.policy-donut-1 { left: 4%; top: 68%; }
.policy-donut-2 { left: 26%; top: 68%; }
.policy-donut-3 { left: 48%; top: 68%; }
.policy-donut-4 { left: 70%; top: 68%; }

.ratio-highlights {
  position: absolute;
  left: 50%;
  bottom: -18%;
  transform: translateX(-50%);
  display: flex;
  gap: 0.35rem;
  white-space: nowrap;
  z-index: 2;
}

.ratio-tag {
  font-size: clamp(0.45rem, 1.1vw, 0.62rem);
  font-weight: 600;
  padding: 0.15rem 0.4rem;
  border-radius: 999px;
  opacity: 0.45;
  transition: opacity 0.35s ease, transform 0.35s ease, box-shadow 0.35s ease;
}

.ratio-tag.active {
  opacity: 1;
  transform: scale(1.08);
  box-shadow: 0 2px 8px rgba(0, 0, 0, 0.12);
}

.ratio-wmh {
  color: #5a3d8a;
  background: rgba(123, 94, 167, 0.15);
}

.ratio-teleop {
  color: #6a4a8a;
  background: rgba(184, 148, 212, 0.2);
}

.ratio-ea {
  color: #7a5a9a;
  background: rgba(212, 184, 232, 0.25);
}

.policy-figure.is-visible .policy-hand-state img,
.policy-figure.is-visible .policy-hand-action img,
.policy-figure.is-visible .policy-denoise-beam {
  animation-play-state: running;
}

.policy-figure:not(.is-visible) .policy-hand-state img,
.policy-figure:not(.is-visible) .policy-hand-action img,
.policy-figure:not(.is-visible) .policy-denoise-beam {
  animation-play-state: paused;
}

@keyframes policy-state-pulse {
  0%, 100% { opacity: 0.88; transform: scale(1); }
  50% { opacity: 1; transform: scale(1.03); }
}

@keyframes policy-action-reveal {
  0%, 32% { opacity: 0; filter: blur(6px); transform: scale(0.9); }
  52%, 84% { opacity: 1; filter: blur(0); transform: scale(1); }
  100% { opacity: 0; filter: blur(6px); transform: scale(0.9); }
}

@keyframes policy-beam-sweep {
  0%, 30% { background-position: 0% 0%; opacity: 0; }
  45%, 75% { background-position: 100% 100%; opacity: 1; }
  100% { background-position: 0% 0%; opacity: 0; }
}

@media (max-width: 768px) {
  .ratio-highlights {
    flex-direction: column;
    align-items: center;
    bottom: -28%;
    gap: 0.15rem;
  }

  .policy-hand-state {
    width: 14%;
    left: 67.5%;
  }

  .policy-hand-action {
    width: 36%;
    left: 55%;
  }
}