:root{
  --bg:#ffffff; --ink:#161513; --ink2:#55514a; --ink3:#8b857b; --line:#e6e2da; --soft:#f6f4f0;
  --gold:#c39a3f; --gold-ink:#1d1708;
  --teleop:#5B8FD3; --rollout:#3E9E66; --human:#BC8A18; --sim:#DA4F68; --zs:#A8A196; --rb:#6E7884;
  --panel:#2e2d2b; --panel2:#3a3936; --panel-line:#4b4945; --pink:#ece8e1; --pink2:#a9a398;
  color-scheme:light;
}
*{box-sizing:border-box}
html{-webkit-text-size-adjust:100%}
body{margin:0;background:var(--bg);color:var(--ink);font:16px/1.6 Inter,system-ui,-apple-system,"Segoe UI",sans-serif}
main{max-width:1140px;margin:0 auto;padding:0 20px}
a{color:inherit}
h1,h2,h3{text-wrap:balance;margin:0}
.block{padding-block:56px 8px}
#sources,#results,#rewards,#bibtex{content-visibility:auto;contain-intrinsic-size:auto 900px}
h2{font-size:30px;font-weight:600;letter-spacing:-.015em}
h3{font-size:18px;font-weight:600}
.lead{color:var(--ink2);max-width:68ch;margin:10px 0 24px}
.note{color:var(--ink3);font-size:14px;margin:12px 0 28px}

/* header */
.head{padding-block:72px 8px;max-width:900px}
.head h1{font-size:clamp(36px,6vw,64px);line-height:1.04;letter-spacing:-.03em;font-weight:700}
.h1sub{display:block;font-size:.5em;font-weight:500;letter-spacing:-.015em;line-height:1.2;margin-top:12px;color:var(--ink2)}
.sub{font-size:clamp(18px,2.2vw,22px);color:var(--ink2);margin:14px 0 26px}
.authors{display:flex;flex-wrap:wrap;gap:6px 22px;margin:0;font-size:18px;font-weight:500}
.affil{margin:4px 0 22px;color:var(--ink2)}
.affil .eq{margin-left:16px;font-size:14px}
.authors sup{font-size:.62em;margin-left:1px}
.authors a{color:inherit;text-decoration:none;border-bottom:1px solid transparent;transition:border-color .15s}
.authors a:hover{border-bottom-color:currentColor}
.links{display:flex;flex-wrap:wrap;gap:10px}
.btn{display:inline-flex;align-items:center;height:38px;padding:0 18px 0 15px;background:var(--soft);color:var(--ink);text-decoration:none;font-weight:600;font-size:15px;border-left:3px solid var(--ink);transition:background .15s}
.btn.ghost{background:transparent;border-left-color:var(--line)}
.btn:hover{background:#ebe7e0}
.tldr{margin:22px 0 0;padding:20px 24px;border:1px solid var(--line);border-left:3px solid var(--ink);color:var(--ink2)}
.tldr b{color:var(--ink);margin-right:6px}
.teaser{display:block;width:100%;aspect-ratio:16/9;background:#000}

/* sources */
.sources{display:grid;grid-template-columns:repeat(4,minmax(0,1fr));gap:18px}
.src{min-width:0;display:flex;flex-direction:column}
.src h3{margin:0 0 6px;font-size:17px}
.tag{position:absolute;left:0;bottom:0;padding:3px 9px 4px;font-size:13px;font-weight:600;color:#fff;line-height:1.3;white-space:nowrap}
.tag.dark{color:#161513}
.src h3 .tag{position:static;display:inline-block;padding:4px 13px 5px 10px;font-size:15px;font-weight:600;color:var(--ink);background:color-mix(in srgb,var(--c) 15%,#fff);border-left:4px solid var(--c)}
.src h3 .tag.dark{color:var(--ink)}
.src p{margin:0 0 12px;color:var(--ink2);font-size:14px;min-height:4.6em}
.src .stack{display:grid;gap:10px;margin-top:auto}
.src .frame{position:relative;aspect-ratio:16/9;overflow:hidden;background:#ddd}
.src video{width:100%;height:100%;object-fit:cover;display:block}
.src .grade{position:absolute;left:0;bottom:0;font-size:12px;font-weight:600;color:#fff;background:rgba(22,21,19,.74);padding:3px 10px 4px 8px;border-left:3px solid var(--c);line-height:1.35}
.grade-legend{color:var(--ink3);font-size:14px;margin:-12px 0 20px}

/* RL results: light window (EigenDEXplore frame) with SGS-style color tags */
.panel{background:var(--soft);border-top:3px solid var(--ink);padding:14px 12px 12px}
.pills.light button{background:#ebe7e0;color:var(--ink2)}
.pills.light button .n{color:var(--ink3)}
.pills.light button[aria-selected=true]{background:#fff;color:var(--ink);border-color:var(--line);border-top-color:var(--ink);border-bottom-color:#fff}
.pills.light button[aria-selected=true] .n{color:var(--ink3)}
.rl-body{display:grid;grid-template-columns:minmax(0,2.2fr) minmax(0,1fr);gap:18px;background:#fff;border:1px solid var(--line);padding:16px}
.tiles{display:grid;grid-template-columns:repeat(3,minmax(0,1fr));gap:10px}
.cell{position:relative;aspect-ratio:16/10;overflow:hidden;background:#ece9e3;min-width:0}
.cell video,.cell img{position:absolute;inset:0;width:100%;height:100%;object-fit:cover}
.cell .tint{position:absolute;left:0;right:0;bottom:0;height:3px;background:var(--c)}
.cell.vidcell:focus-visible{outline:2px solid var(--ink);outline-offset:2px}
.cell .tag{z-index:2}
.cell.empty{display:flex;align-items:center;justify-content:center;color:var(--ink3);font-size:14px;background:repeating-linear-gradient(135deg,#fff 0 9px,#f3f1ec 9px 10px);border:1px solid var(--line)}
.rl-side{min-width:0;display:flex;flex-direction:column;gap:6px;padding:4px 2px}
.rl-side h3{font-size:22px;letter-spacing:-.01em}
.rl-side p{margin:0 0 8px;color:var(--ink2);font-size:14px}
.rl-side svg{width:100%;height:auto;display:block}

/* card + charts */
.card{border:1px solid var(--line);border-left:3px solid var(--ink);padding:20px 22px 14px;margin-bottom:8px}
.card-head{display:flex;justify-content:space-between;align-items:center;gap:12px;flex-wrap:wrap;margin-bottom:6px}
.legend{display:flex;flex-wrap:wrap;gap:6px 16px;font-size:13px;color:var(--ink2)}
.legend span{display:inline-flex;align-items:center;gap:6px}
.legend i{width:4px;height:14px;display:inline-block}
.chartwrap{position:relative;overflow-x:auto}
#rlChart{width:100%;min-width:640px;height:auto;display:block}
.tip{position:absolute;pointer-events:none;background:#161513;color:#fff;font-size:13px;line-height:1.35;padding:6px 9px;opacity:0;transition:opacity .12s;white-space:nowrap;transform:translate(-50%,-110%)}
.tbl summary{cursor:pointer;color:var(--ink2);font-size:14px;margin:6px 0}
.tbl table{border-collapse:collapse;font-size:14px;margin:6px 0 10px;font-variant-numeric:tabular-nums}
.tbl th,.tbl td{padding:5px 14px 5px 0;text-align:right;border-bottom:1px solid var(--line)}
.tbl th:first-child,.tbl td:first-child{text-align:left}

/* reward window (dark, EigenDEXplore style) */
.window{background:var(--panel);border-top:3px solid var(--gold);padding:14px 12px 12px;color:var(--pink)}
.win-bar{display:flex;align-items:flex-end;justify-content:space-between;gap:12px;flex-wrap:wrap;padding:4px 0 0}
.win-bar .badge{margin-bottom:8px}
.pills{display:flex;flex-wrap:wrap;gap:3px;position:relative;z-index:1}
.pills button{display:inline-flex;align-items:center;gap:8px;border:1px solid transparent;border-top:2px solid transparent;margin-bottom:-1px;background:rgba(255,255,255,.05);color:var(--pink2);font:500 15px Inter,system-ui,sans-serif;padding:7px 15px 7px 12px;cursor:pointer}
.pills button .n{font-size:12px;color:#7d786f;font-variant-numeric:tabular-nums}
.pills button[aria-selected=true]{background:var(--panel2);color:#fff;border-color:var(--panel-line);border-top-color:var(--gold);border-bottom-color:var(--panel2)}
.pills button[aria-selected=true] .n{color:var(--pink2)}
.badge{background:rgba(195,154,63,.14);color:inherit;border-left:3px solid var(--gold);font-weight:600;font-size:14px;padding:5px 12px 6px 10px}
.win-body{display:grid;grid-template-columns:minmax(0,1.05fr) minmax(0,1fr);gap:18px;background:var(--panel2);border:1px solid var(--panel-line);padding:18px}
.vid{position:relative;aspect-ratio:16/9;overflow:hidden;background:#1d1c1a}
.vid video{width:100%;height:100%;object-fit:cover;display:block}
.pending{position:absolute;inset:0;display:none;align-items:center;justify-content:center;text-align:center;padding:20px;color:var(--pink2);font-size:14px;background:repeating-linear-gradient(135deg,#252422 0 10px,#2a2927 10px 11px)}
.vid.missing .pending{display:flex}
.ctrl{display:flex;align-items:center;gap:12px;margin:12px 0 14px}
.play{flex:none;width:38px;height:38px;border-radius:50%;border:0;background:#fff;color:var(--panel);display:grid;place-items:center;cursor:pointer}
#scrub{flex:1;min-width:0;accent-color:var(--gold)}
.tval{width:44px;text-align:right;font-variant-numeric:tabular-nums;font-size:14px;color:var(--pink2)}
.clips{display:grid;grid-template-columns:repeat(5,minmax(0,1fr));gap:6px}
.clips button{border:1px solid var(--panel-line);border-left:3px solid var(--panel-line);background:transparent;color:var(--pink2);padding:7px 6px 7px 8px;font:500 13px Inter,system-ui,sans-serif;cursor:pointer;line-height:1.25;text-align:left}
.clips button b{display:block;color:var(--pink);font-weight:600;font-size:14px}
.clips button[aria-selected=true]{background:#fff;border-color:#fff;border-left-color:var(--gold);color:var(--ink2)}
.clips button[aria-selected=true] b{color:var(--ink)}
.prompt{font-size:14px;color:var(--pink2);margin:12px 2px 0}
.prompt q{color:var(--pink)}
#curve{width:100%;height:auto;display:block;touch-action:none;cursor:ew-resize}
.toggles{display:flex;flex-wrap:wrap;gap:6px;margin-top:6px}
.toggles button{display:inline-flex;align-items:center;gap:7px;border:0;border-left:3px solid var(--c);background:var(--panel);color:var(--pink);font:500 13px Inter,system-ui,sans-serif;padding:6px 12px 6px 10px;cursor:pointer}
.toggles button i{display:none}
.toggles button[aria-pressed=false]{opacity:.42}
.toggles button:disabled{opacity:.35;cursor:not-allowed}
.readout{display:grid;grid-template-columns:repeat(auto-fit,minmax(96px,1fr));gap:8px;margin-top:12px}
.readout div{background:rgba(255,255,255,.04);padding:7px 10px;font-size:12px;color:var(--pink2)}
.readout b{display:block;font-size:20px;font-weight:600;color:var(--pink);font-variant-numeric:tabular-nums}

.bib{background:var(--soft);border-left:3px solid var(--line);padding:16px 18px;font-size:13.5px;overflow-x:auto;line-height:1.55}
.foot{max-width:1140px;margin:40px auto 0;padding:24px 20px 48px;color:var(--ink3);font-size:14px;border-top:1px solid var(--line)}

@media (max-width:900px){
  .win-bar .badge{order:-1;margin-bottom:4px}
  .win-bar .pills{flex-basis:100%}
  .sources{grid-template-columns:repeat(2,minmax(0,1fr))}
  .rl-body{grid-template-columns:minmax(0,1fr)}
  .tiles{grid-template-columns:repeat(2,minmax(0,1fr))}
  .win-body{grid-template-columns:minmax(0,1fr)}
}
@media (max-width:520px){
  .tldr{padding:16px 16px}
  .src .stack{grid-template-columns:repeat(3,minmax(0,1fr));gap:6px}
  .src .grade{font-size:9.5px;padding:1px 6px 2px 5px}
  .src p{min-height:0}
  .sources{gap:28px}
  .cell .tag{font-size:11.5px;padding:2px 7px 3px}
  .sources{grid-template-columns:minmax(0,1fr)}
  .clips{grid-template-columns:repeat(3,minmax(0,1fr))}
  .pills button{padding:6px 10px 6px 8px;font-size:14px}
  .window{padding:10px 8px 8px}
  .win-body{padding:12px}
}