/* ============================================================
   REACT — project page
   Aesthetic: technical-editorial / lab notebook
   Warm paper · ink · deep-teal accent · burnt-amber highlight
   Type: Inter throughout · JetBrains Mono for code/IDs only
   ============================================================ */

:root {
  --paper:    #f6f7f9;   /* near-white cool gray */
  --paper-2:  #e9edf1;   /* alt sections */
  --card:     #ffffff;
  --ink:      #233d4d;   /* charcoal navy-teal (palette) */
  --ink-soft: #233d4d;
  --ink-mut:  #5b6f79;
  --rule:     #e1e5ea;
  --rule-2:   #ccd4da;
  --accent:   #2f7d6b;   /* legible teal (palette #619b8a, grounded) */
  --accent-d: #245f51;
  --amber:    #ef6f1c;   /* orange (palette #fe7f2d, grounded) */
  --teal:     #619b8a;   /* palette teal (fills) */
  --gold:     #fcca46;   /* palette gold */
  --sage:     #a1c181;   /* palette sage */
  --green:    #2a7d46;   /* contribution keyword (green bold) */
  --shadow:   0 1px 2px rgba(35,61,77,.05), 0 12px 34px -18px rgba(35,61,77,.26);
  --shadow-h: 0 2px 6px rgba(35,61,77,.08), 0 22px 50px -22px rgba(97,155,138,.45);
  --maxw: 1080px;
  --ease: cubic-bezier(.22,.61,.36,1);
}

* { box-sizing: border-box; }

html { scroll-behavior: smooth; }

body {
  margin: 0;
  font-family: 'Inter', -apple-system, BlinkMacSystemFont, sans-serif;
  color: var(--ink);
  background-color: var(--paper);
  background-image:
    radial-gradient(rgba(35,61,77,.05) 1px, transparent 1.4px);
  background-size: 26px 26px;
  background-position: -13px -13px;
  -webkit-font-smoothing: antialiased;
  text-rendering: optimizeLegibility;
  line-height: 1.6;
}

/* faint paper grain overlay */
body::before {
  content: "";
  position: fixed;
  inset: 0;
  pointer-events: none;
  z-index: 9999;
  opacity: .2;
  mix-blend-mode: multiply;
  background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='160' height='160'%3E%3Cfilter id='n'%3E%3CfeTurbulence type='fractalNoise' baseFrequency='.9' numOctaves='2' stitchTiles='stitch'/%3E%3C/filter%3E%3Crect width='100%25' height='100%25' filter='url(%23n)' opacity='.4'/%3E%3C/svg%3E");
}

a { color: var(--accent); text-decoration: none; }
a:hover { color: var(--accent-d); }

.wrap { max-width: var(--maxw); margin: 0 auto; padding: 0 1.6rem; }
.narrow { max-width: 760px; margin-left: auto; margin-right: auto; }

/* ---------- mono utility ---------- */
.mono {
  font-family: 'Inter', sans-serif;
  font-weight: 500;
  letter-spacing: .04em;
}
.tag {
  font-family: 'Inter', sans-serif;
  font-size: .72rem;
  font-weight: 600;
  letter-spacing: .22em;
  text-transform: uppercase;
  color: var(--accent);
}

/* ============================ NAV ============================ */
.site-nav {
  position: sticky;
  top: 0;
  z-index: 50;
  display: flex;
  align-items: center;
  justify-content: space-between;
  padding: .75rem 1.6rem;
  background: color-mix(in srgb, var(--paper) 82%, transparent);
  backdrop-filter: saturate(140%) blur(10px);
  border-bottom: 1px solid var(--rule);
}
.site-nav__brand {
  font-family: 'Inter', sans-serif;
  font-weight: 800;
  font-size: 1.05rem;
  letter-spacing: .02em;
  color: var(--ink);
  display: flex;
  align-items: baseline;
  gap: .55rem;
}
.site-nav__brand .dot { color: var(--accent); }
.site-nav__brand small {
  font-family: 'Inter', sans-serif;
  font-weight: 500;
  font-size: .62rem;
  letter-spacing: .18em;
  text-transform: uppercase;
  color: var(--ink-mut);
}
.site-nav__links { display: flex; gap: 1.3rem; }
.site-nav__links a {
  font-family: 'Inter', sans-serif;
  font-size: .72rem;
  letter-spacing: .12em;
  text-transform: uppercase;
  color: var(--ink-mut);
  position: relative;
}
.site-nav__links a:hover { color: var(--ink); }
.site-nav__links a::after {
  content: ""; position: absolute; left: 0; right: 100%; bottom: -5px;
  height: 1.5px; background: var(--accent); transition: right .3s var(--ease);
}
.site-nav__links a:hover::after { right: 0; }
@media (max-width: 720px) { .site-nav__links { display: none; } }

/* ============================ HERO ============================ */
.hero { padding: 5.5rem 0 2.5rem; }
.hero__kicker {
  display: inline-flex; align-items: center; gap: .7rem;
  margin-top: 1.5rem;
}
.hero__kicker .pip {
  width: 7px; height: 7px; border-radius: 50%;
  background: var(--amber);
  box-shadow: 0 0 0 0 color-mix(in srgb, var(--amber) 60%, transparent);
  animation: pulse 2.4s infinite;
}
@keyframes pulse {
  0% { box-shadow: 0 0 0 0 color-mix(in srgb, var(--amber) 55%, transparent); }
  70% { box-shadow: 0 0 0 9px transparent; }
  100% { box-shadow: 0 0 0 0 transparent; }
}
/* paper title is the hero */
.hero__title {
  font-family: 'Hanken Grotesk', sans-serif;
  font-weight: 700;
  font-size: clamp(1.7rem, 3.8vw, 2.55rem);
  line-height: 1.18;
  letter-spacing: -.015em;
  margin: 0;
  max-width: 1000px;
  color: var(--ink);
}

/* venue line under the authors */
.hero__venue {
  margin: 1.35rem 0 0;
  font-weight: 700;
  font-size: 1.2rem;
  letter-spacing: .01em;
  color: var(--accent-d);
}

/* project-name sentence under the badge */
.hero__intro {
  margin: 1.6rem 0 0;
  font-size: 1.18rem;
  line-height: 1.5;
  text-wrap: pretty;
  color: var(--ink);
}
.hero__intro .acc { color: var(--amber); font-weight: 800; font-size: 1.07em; }
.hero__brand {
  font-family: 'Inter', sans-serif;
  font-weight: 800; font-size: 1.14em; letter-spacing: -.01em;
  color: var(--ink);
}

.hero__sub {
  margin: 1.1rem 0 0;
  max-width: 660px;
  color: var(--ink-mut);
  font-size: 1.02rem;
}
/* authors & affiliations */
.hero__authors {
  margin-top: 1.7rem;
  max-width: 840px;
  display: flex; flex-wrap: wrap; gap: .35rem 1.15rem;
  font-size: 1.04rem; font-weight: 600;
  color: var(--ink);
}
.hero__authors sup {
  color: var(--accent);
  font-weight: 600;
  font-size: .68em;
  margin-left: .08em;
}
.hero__affils {
  margin-top: .6rem;
  display: flex; flex-wrap: wrap; gap: .3rem 1.3rem;
  font-family: 'Inter', sans-serif;
  font-size: .76rem; letter-spacing: .03em;
  color: var(--ink-mut);
}
.hero__affils sup { color: var(--accent); }

.hero__meta {
  margin-top: 1.1rem;
  display: flex; flex-wrap: wrap; gap: .5rem 1.4rem;
  font-family: 'Inter', sans-serif;
  font-size: .76rem; letter-spacing: .04em;
  color: var(--ink-mut);
}
.hero__meta b { color: var(--ink); font-weight: 600; }

/* action buttons */
.actions { display: flex; flex-wrap: wrap; gap: .7rem; margin-top: 2rem; }
.btn {
  display: inline-flex; align-items: center; gap: .55rem;
  font-family: 'Inter', sans-serif;
  font-size: .76rem; font-weight: 600; letter-spacing: .1em; text-transform: uppercase;
  padding: .68rem 1.1rem;
  border: 1.5px solid var(--ink);
  border-radius: 2px;
  color: var(--ink);
  background: transparent;
  transition: transform .25s var(--ease), background .25s var(--ease), color .25s var(--ease), box-shadow .25s var(--ease), border-color .25s var(--ease);
}
.btn:hover {
  background: var(--ink); color: var(--paper);
  transform: translateY(-2px);
}
.btn--accent { border-color: var(--accent); color: var(--accent); }
.btn--accent:hover { background: var(--accent); color: #fff; box-shadow: var(--shadow-h); }
.btn[aria-disabled="true"] { opacity: .45; pointer-events: none; }
.btn .ic { width: 1em; height: 1em; }

/* hero media */
.hero__media { margin-top: 3.2rem; }

/* ============================ TOC ============================ */
.toc {
  position: fixed;
  top: 50%;
  transform: translateY(-50%);
  left: max(14px, calc(50vw - 540px - 240px));
  width: 200px;
  z-index: 40;
  display: none;
}
/* show the TOC whenever there is room for it; below 1620px the content
   column yields to the left instead of sitting under the TOC */
@media (min-width: 1240px) {
  .toc { display: block; }
  .wrap {
    margin-left: max(240px, calc(50vw - 540px));
    margin-right: auto;
  }
}
.toc__title {
  font-size: .66rem; font-weight: 700; letter-spacing: .14em; text-transform: uppercase;
  color: var(--ink-mut);
  padding-left: .7rem;
  margin-bottom: .55rem;
}
.toc a {
  display: block;
  padding: .26rem .7rem;
  font-size: .78rem; line-height: 1.4;
  white-space: nowrap; overflow: hidden; text-overflow: ellipsis;
  color: var(--ink-mut);
  border-left: 2px solid var(--rule-2);
  transition: color .2s var(--ease), border-color .2s var(--ease);
}
.toc a .n {
  display: inline-block;
  width: 1.5em;
  font-family: 'JetBrains Mono', ui-monospace, monospace;
  font-size: .62rem;
  color: var(--rule-2);
  transition: color .2s var(--ease);
}
.toc a:hover { color: var(--ink); }
.toc a.active {
  color: var(--accent-d);
  font-weight: 600;
  border-left-color: var(--accent);
}
.toc a.active .n { color: var(--accent); }

/* ============================ FRAMES / PLATES ============================ */
.vframe {
  position: relative;
  border-radius: 6px;
  overflow: hidden;
  background: #16242d;
  border: 1px solid var(--rule-2);
  box-shadow: var(--shadow);
}
.vframe video { width: 100%; display: block; }
.vframe::after {
  content: ""; position: absolute; inset: 0; pointer-events: none;
  box-shadow: inset 0 0 0 1px rgba(255,255,255,.05);
  border-radius: 6px;
}

figure { margin: 0; }
.cap {
  margin-top: .7rem;
  font-family: 'Inter', sans-serif;
  font-size: .86rem;
  line-height: 1.55;
  color: var(--ink-mut);
}
.cap b { color: var(--ink); font-weight: 600; }

/* white figure plate for light-background figures/charts */
.plate {
  background: var(--card);
  border: 1px solid var(--rule);
  border-radius: 6px;
  padding: 1rem;
  box-shadow: var(--shadow);
}
.plate img { width: 100%; height: auto; display: block; border-radius: 3px; }
.plate .cap { padding: 0 .25rem; }

/* ============================ BANDS / SECTIONS ============================ */
.band { padding: 4.2rem 0; border-top: 1px solid var(--rule); }
.band--alt { background: var(--paper-2); }

.band__head {
  display: flex; align-items: baseline; gap: 1rem;
  margin-bottom: 2.2rem;
}
.band__idx {
  font-family: 'Inter', sans-serif;
  font-size: .82rem; font-weight: 600; letter-spacing: .1em;
  color: var(--accent);
  padding-top: .35rem;
  white-space: nowrap;
}
.band__title {
  font-family: 'Inter', sans-serif;
  font-weight: 700;
  font-size: clamp(1.7rem, 4.2vw, 2.7rem);
  line-height: 1.05;
  letter-spacing: -.02em;
  margin: 0;
  color: var(--ink);
}
.band__title .sub-em { color: var(--ink-mut); font-weight: 500; }
.lead {
  font-size: 1.12rem;
  color: var(--ink);
}
.prose p { margin: 0 0 1.1rem; color: var(--ink); font-size: 1.04rem; }
.prose strong { color: var(--ink); font-weight: 700; }
.prose em { font-style: italic; color: var(--accent-d); }

.drop::first-letter {
  font-family: 'Inter', sans-serif;
  font-weight: 800;
  font-size: 3.1em;
  float: left;
  line-height: .76;
  padding: .06em .12em 0 0;
  color: var(--accent);
}

/* ============================ METHOD STEPS ============================ */
.steps { margin-top: 2.6rem; display: flex; flex-direction: column; gap: 2.4rem; }
.step {
  display: grid;
  grid-template-columns: 1fr 1.15fr;
  gap: 1.8rem 2.4rem;
  align-items: center;
  padding-top: 2.2rem;
  border-top: 1px dashed var(--rule-2);
}
.step:first-child { border-top: 0; padding-top: 0; }
.step:nth-child(even) .step__media { order: -1; }
.step__num {
  font-family: 'Inter', sans-serif;
  font-size: .78rem; font-weight: 600; letter-spacing: .12em;
  color: var(--amber);
  display: flex; align-items: center; gap: .6rem;
  margin-bottom: .7rem;
}
.step__num::before {
  content: ""; width: 26px; height: 1.5px; background: var(--amber);
}
.step__title {
  font-family: 'Inter', sans-serif;
  font-weight: 700; font-size: 1.3rem; line-height: 1.15;
  margin: 0 0 .7rem; color: var(--ink);
}
.step p { margin: 0; color: var(--ink-mut); font-size: 1rem; }
.step p strong { color: var(--ink); }
.step p em { color: var(--accent-d); font-style: italic; }

/* ============================ VIDEO GRIDS ============================ */
.vgrid { display: grid; gap: 1.2rem; margin-top: 1.8rem; }
.vgrid--5 { grid-template-columns: repeat(5, 1fr); }
.vgrid--2 { grid-template-columns: repeat(2, 1fr); }
.vcell { display: flex; flex-direction: column; }
.vcell .vframe { flex: 1; display: flex; }
.vcell video { width: 100%; }
.vlabel {
  margin-top: .6rem;
  font-family: 'Inter', sans-serif;
  font-size: .74rem; letter-spacing: .08em; text-transform: uppercase;
  color: var(--ink-mut);
  display: flex; align-items: center; gap: .5rem;
}
.vlabel::before { content: ""; width: 6px; height: 6px; background: var(--accent); border-radius: 50%; }

/* keep portrait real-robot clips tidy */
.vgrid--5 .vframe {
  background: #16242d;
  align-items: center; justify-content: center;
}
.vgrid--5 .vframe video {
  max-height: 340px; width: auto; max-width: 100%; object-fit: contain;
}

/* full-width comparison video */
.vfull { margin-top: 1.8rem; }
.vfull video { width: 100%; display: block; }

/* real-deploy gallery — larger clips, centered, wraps 3-per-row */
.vgrid-deploy {
  display: flex; flex-wrap: wrap; justify-content: center;
  gap: 1.3rem; margin-top: 1.8rem;
}
.vgrid-deploy .vcell { flex: 0 1 320px; }
.vgrid-deploy .vframe video { width: 100%; display: block; }

/* centered featured clip (long-horizon demo) */
.vfeature { max-width: 520px; margin: 2.4rem auto 0; }
.vfeature video { width: 100%; display: block; }
.vfeature .cap { text-align: center; }

/* in-sim eval pairs: rollout + model input, unseen motions */
.evalstack {
  display: flex; flex-direction: column; gap: 2.1rem;
  max-width: 980px;
  margin: 2.2rem auto 0;
}
.evalpair__head {
  display: flex; align-items: baseline; justify-content: space-between;
  gap: 1rem;
  margin-bottom: .65rem;
}
.evalpair__name {
  font-family: 'Inter', sans-serif;
  font-weight: 700; font-size: 1.18rem; letter-spacing: -.01em;
  color: var(--ink);
}
.evalpair__id {
  font-family: 'JetBrains Mono', ui-monospace, monospace;
  font-size: .68rem; font-weight: 500; letter-spacing: .06em;
  text-transform: uppercase;
  color: var(--ink-mut);
  white-space: nowrap;
}
.evalpair__vids {
  display: grid; grid-template-columns: 1fr 1fr; gap: 1.1rem;
}
.vlabel--depth::before { background: var(--amber); }
@media (max-width: 720px) {
  .evalpair__vids { grid-template-columns: 1fr; }
  .evalpair__head { flex-direction: column; gap: .15rem; }
}

/* two-column figure split */
.split {
  display: grid; gap: 1.6rem; margin-top: 1.8rem;
  grid-template-columns: 5fr 7fr; align-items: start;
}

/* ============================ CHART GRID ============================ */
.legendbar {
  margin: 0 auto 1rem;
  max-width: 720px;
  background: var(--card);
  border: 1px solid var(--rule);
  border-radius: 4px;
  padding: .5rem .8rem;
}
.legendbar img { width: 100%; max-width: 680px; height: auto; display: block; margin: 0 auto; }

/* quantitative: user study (left) + 2x2 grid of the other four (right) */
.quant-legend { max-width: 470px; margin: 0 auto 1.2rem; }
.quant-layout {
  display: grid; grid-template-columns: 5fr 7fr; gap: 1.3rem;
  align-items: stretch; margin-top: .4rem;
}
.quant-userstudy { display: flex; align-items: center; }
.quant-userstudy img { width: 100%; height: auto; display: block; }
.quant-grid2x2 { display: grid; grid-template-columns: 1fr 1fr; gap: 1rem; }
@media (max-width: 760px) {
  .quant-layout { grid-template-columns: 1fr; }
}

.charts {
  display: grid; gap: 1.1rem;
  grid-template-columns: repeat(6, 1fr);
  margin-top: 1.2rem;
}
.charts .plate { padding: .7rem; }
/* 5-up: 3 on top, 2 centered below via spans on a 6-col grid */
.charts .plate:nth-child(1) { grid-column: span 2; }
.charts .plate:nth-child(2) { grid-column: span 2; }
.charts .plate:nth-child(3) { grid-column: span 2; }
.charts .plate:nth-child(4) { grid-column: 2 / span 2; }
.charts .plate:nth-child(5) { grid-column: 4 / span 2; }

/* ============================ CONTRIBUTIONS ============================ */
.contribs { margin-top: 2rem; display: grid; gap: 1px; background: var(--rule); border: 1px solid var(--rule); border-radius: 6px; overflow: hidden; }
.contrib {
  background: var(--paper);
  padding: 1.4rem 1.5rem;
  display: grid; grid-template-columns: auto 1fr; gap: 1.2rem; align-items: start;
  transition: background .25s var(--ease);
}
.contrib:hover { background: var(--card); }
.contrib__n {
  font-family: 'Inter', sans-serif;
  font-weight: 600; font-size: 1.1rem; color: var(--accent);
}
.contrib p { margin: 0; color: var(--ink); }
.contrib strong { font-weight: 700; }

/* ============================ BIBTEX ============================ */
.bibtex { margin-top: 1.6rem; position: relative; }
.bibtex pre {
  margin: 0;
  background: #1d3340;
  color: #e9eef1;
  border-radius: 6px;
  padding: 1.3rem 1.4rem;
  overflow-x: auto;
  font-family: 'JetBrains Mono', ui-monospace, monospace;
  font-size: .82rem; line-height: 1.65;
  box-shadow: var(--shadow);
}
.bibtex pre .k { color: #fcca46; }
.copy-button {
  position: absolute; top: .7rem; right: .7rem;
  font-family: 'Inter', sans-serif;
  font-size: .68rem; letter-spacing: .1em; text-transform: uppercase;
  background: rgba(255,255,255,.07);
  border: 1px solid rgba(255,255,255,.18);
  color: #d8d2c4;
  padding: .35rem .65rem; border-radius: 3px; cursor: pointer;
  display: inline-flex; align-items: center; gap: .4rem;
  transition: background .2s var(--ease), color .2s var(--ease);
}
.copy-button:hover { background: rgba(255,255,255,.14); color: #fff; }
.copy-button.copied { background: var(--accent); border-color: var(--accent); color: #fff; }

/* ============================ FOOTER ============================ */
.site-foot {
  border-top: 1px solid var(--rule);
  padding: 2.6rem 0 3.4rem;
  font-family: 'Inter', sans-serif;
  font-size: .74rem; letter-spacing: .03em;
  color: var(--ink-mut);
}
.site-foot .wrap { display: flex; flex-wrap: wrap; justify-content: space-between; gap: 1rem; }
.site-foot a { color: var(--accent); }

/* inline keyword chips */
.kw { font-family: 'Inter', sans-serif; font-weight: 600; font-size: .92em; }
.kw-green  { color: #2f8f4e; }
.kw-purple { color: #7048c4; }
.kw-amber  { color: var(--amber); }

/* contribution keyword — green bold */
.kc { color: var(--green); font-weight: 700; }

/* ============================ SCROLL REVEAL ============================ */
.reveal { opacity: 0; transform: translateY(22px); transition: opacity .7s var(--ease), transform .7s var(--ease); }
.reveal.in-view { opacity: 1; transform: none; }
.hero .reveal { transform: translateY(14px); }

@media (prefers-reduced-motion: reduce) {
  .reveal { opacity: 1; transform: none; transition: none; }
  .hero__kicker .pip { animation: none; }
  html { scroll-behavior: auto; }
}

/* ============================ RESPONSIVE ============================ */
@media (max-width: 900px) {
  .step { grid-template-columns: 1fr; gap: 1rem; }
  .step:nth-child(even) .step__media { order: 0; }
  .split { grid-template-columns: 1fr; }
  .vgrid--5 { grid-template-columns: repeat(2, 1fr); }
  .charts { grid-template-columns: repeat(2, 1fr); }
  .charts .plate:nth-child(n) { grid-column: auto; }
}
@media (max-width: 560px) {
  .hero { padding-top: 3.5rem; }
  .band__head { flex-direction: column; gap: .4rem; }
  .vgrid--2 { grid-template-columns: 1fr; }
  .contrib { grid-template-columns: 1fr; gap: .5rem; }
}


/* generative partner prediction: sliding carousel */
.pcar { max-width: 1120px; margin: 1.8rem auto 0; }
.pcar__bar { display: flex; align-items: center; gap: .75rem; margin-bottom: 1rem; }
.pcar__chips { flex: 1; display: flex; flex-wrap: wrap; justify-content: center; gap: .45rem; }
.pcar__chip {
  font: 500 .74rem/1 'Inter', sans-serif; letter-spacing: .08em; text-transform: uppercase;
  color: var(--ink-mut); background: transparent;
  border: 1.5px solid color-mix(in srgb, var(--ink) 18%, transparent);
  border-radius: 999px; padding: .55rem .9rem; cursor: pointer;
  transition: color .2s, border-color .2s, background .2s;
}
.pcar__chip:hover { color: var(--ink); border-color: var(--ink); }
.pcar__chip.is-active { color: #fff; background: var(--accent); border-color: var(--accent); }
.pcar__nav {
  flex: none; width: 44px; height: 44px; border-radius: 50%;
  display: grid; place-items: center; cursor: pointer;
  color: var(--ink); background: var(--paper);
  border: 1.5px solid var(--ink); transition: background .2s, color .2s;
}
.pcar__nav:hover { background: var(--ink); color: var(--paper); }
.pcar__nav:focus-visible, .pcar__chip:focus-visible { outline: 2px solid var(--accent); outline-offset: 2px; }
.pcar__viewport { overflow: hidden; border-radius: 6px; background: #fafaf9; }
.pcar__track { display: flex; transition: transform .55s var(--ease, cubic-bezier(.22,.61,.36,1)); will-change: transform; }
.pcar__slide { flex: 0 0 100%; margin: 0; }
.pcar__slide img { display: block; width: 100%; height: auto; }
.pcar__count { text-align: center; margin: .7rem 0 0; font: .78rem 'Inter', sans-serif; color: var(--ink-mut); letter-spacing: .06em; }
@media (prefers-reduced-motion: reduce) { .pcar__track { transition: none; } }
@media (max-width: 640px) {
  .pcar__bar { flex-wrap: wrap; justify-content: space-between; }
  .pcar__chips { order: 3; flex-basis: 100%; }
  .pcar__chip { padding: .45rem .7rem; font-size: .68rem; }
}

/* prediction legend (mirrors in-image legend at readable size) */
.pl-blue   { color: #4f7fc4; }
.pl-red    { color: #c42323; }
.pl-orange { color: #c46f12; }
.pl-gray   { color: #6f6f6f; }
.plegend {
  list-style: none; padding: 0; margin: 1.6rem auto 0; max-width: 1120px;
  display: flex; flex-wrap: wrap; justify-content: center; gap: .5rem 1.4rem;
  font: 500 .86rem/1.3 'Inter', sans-serif; color: var(--ink);
}
.plegend li { display: flex; align-items: center; gap: .5rem; }
.plegend i { width: 14px; height: 14px; border-radius: 3px; flex: none; }

/* hero: real-robot demo grid replaces the single hero clip */
.hero__demo { margin-top: 3rem; }
.hero__democap { text-align: center; max-width: 760px; margin: 1rem auto 0; }
.vfeature--wide { max-width: 920px; }
.hero__demo { flex-wrap: nowrap; gap: .8rem; }
.hero__demo .vcell { flex: 1 1 0; min-width: 0; }
@media (max-width: 720px) {
  .hero__demo { flex-wrap: wrap; justify-content: center; }
  .hero__demo .vcell { flex: 0 1 calc(50% - .4rem); }
}

/* hero demo: two rows (3 + 2), larger tiles */
.hero__demo { display: grid; grid-template-columns: repeat(6, 1fr); gap: 1.1rem 1rem; }
.hero__demo .vcell { grid-column: span 2; min-width: 0; }
.hero__demo .vcell:nth-child(4) { grid-column: 2 / span 2; }
.hero__demo .vcell:nth-child(5) { grid-column: 4 / span 2; }
@media (max-width: 720px) {
  .hero__demo { grid-template-columns: repeat(2, 1fr); gap: .9rem .7rem; }
  .hero__demo .vcell, .hero__demo .vcell:nth-child(4) { grid-column: span 1; }
  .hero__demo .vcell:nth-child(5) { grid-column: 1 / span 2; width: calc(50% - .35rem); justify-self: center; }
}

/* hero demo: 2 x 3 grid (5 interactions + long-horizon) */
.hero__demo { grid-template-columns: repeat(3, 1fr); }
.hero__demo .vcell, .hero__demo .vcell:nth-child(4), .hero__demo .vcell:nth-child(5) { grid-column: auto; }
@media (max-width: 720px) {
  .hero__demo { grid-template-columns: repeat(2, 1fr); }
  .hero__demo .vcell:nth-child(5) { grid-column: auto; width: auto; justify-self: stretch; }
}
.hero__demo { align-items: start; }
.hero__demo .vcell .vframe { flex: none; }

/* hero demo: larger action labels */
.hero__demo .vlabel { font-size: .95rem; letter-spacing: .07em; color: var(--ink); font-weight: 600; margin-top: .7rem; }
.hero__demo .vlabel::before { width: 8px; height: 8px; }
@media (max-width: 720px) { .hero__demo .vlabel { font-size: .8rem; } }

/* hero demo: speed / autonomy badges, top-right of the grid */
.hero__badges { display: flex; justify-content: flex-end; flex-wrap: wrap; gap: .5rem; margin: 2.6rem 0 -1.9rem; }
.hbadge {
  display: inline-flex; align-items: center; gap: .45rem;
  font: 600 .8rem/1 'Inter', sans-serif; letter-spacing: .06em; text-transform: uppercase;
  color: var(--ink); background: var(--paper);
  border: 1.5px solid var(--ink); border-radius: 999px; padding: .5rem .85rem;
}
.hbadge b { font-weight: 800; font-size: 1.05em; }
.hbadge--accent { color: #fff; background: var(--accent); border-color: var(--accent); }
.hbadge__dot { width: 8px; height: 8px; border-radius: 50%; background: #fff; animation: hbpulse 1.6s ease-in-out infinite; }
@keyframes hbpulse { 0%,100% { opacity: 1; } 50% { opacity: .35; } }
@media (prefers-reduced-motion: reduce) { .hbadge__dot { animation: none; } }
@media (max-width: 720px) {
  .hero__badges { justify-content: center; margin: 2rem 0 -1.6rem; }
  .hbadge { font-size: .7rem; padding: .45rem .7rem; }
}

/* author homepage links */
.hero__authors a { color: inherit; text-decoration: none; border-bottom: 1.5px solid transparent; transition: border-color .2s, color .2s; }
.hero__authors a:hover, .hero__authors a:focus-visible { color: var(--accent-d); border-bottom-color: currentColor; }