/* OCLO project page. Plain CSS, light and dark themes via prefers-color-scheme. */
:root {
  --bg: #ffffff;
  --bg-alt: #f6f7f9;
  --text: #1f2328;
  --muted: #59636e;
  --accent: #d6361f;           /* OCLO red, matches the paper's plot color family */
  --btn-bg: #1f2328;
  --btn-text: #ffffff;
  --border: #d9dee3;
  --good: #1f9d55;
  --bad: #d64545;
  --card: #ffffff;
  --shadow: 0 1px 3px rgba(16, 24, 40, .08), 0 1px 2px rgba(16, 24, 40, .04);
  --radius: 10px;
}
@media (prefers-color-scheme: dark) {
  :root {
    --bg: #111418;
    --bg-alt: #171b20;
    --text: #e6e8eb;
    --muted: #a3acb6;
    --accent: #ff6b52;
    --btn-bg: #e6e8eb;
    --btn-text: #111418;
    --border: #2c333b;
    --good: #3fbf73;
    --bad: #ef6b6b;
    --card: #1b2026;
    --shadow: 0 1px 3px rgba(0, 0, 0, .5);
  }
}

* { box-sizing: border-box; }
html { scroll-behavior: smooth; }
body {
  margin: 0;
  background: var(--bg);
  color: var(--text);
  font-family: "Noto Sans", system-ui, -apple-system, "Segoe UI", Roboto, Arial, sans-serif;
  font-size: 16px;
  line-height: 1.6;
  -webkit-font-smoothing: antialiased;
}
a { color: var(--accent); }
img, video { display: block; max-width: 100%; }

.container { max-width: 1100px; margin: 0 auto; padding-inline: 20px; }
.container.narrow { max-width: 860px; }

section { padding-block: 44px; }
section.alt { background: var(--bg-alt); }
h2 { font-size: 1.65rem; line-height: 1.25; margin: 0 0 14px; text-align: center; font-weight: 700; }
h3 { font-size: 1.1rem; margin: 30px 0 12px; font-weight: 600; }
.lead { max-width: 860px; margin: 0 auto 22px; color: var(--text); }
.note { color: var(--muted); font-size: .9rem; margin: 10px 0 0; }
.center { text-align: center; }

/* ---------- header ---------- */
.hero { padding-block: 48px 18px; text-align: center; }
.title { font-size: clamp(1.5rem, 3.4vw, 2.4rem); line-height: 1.2; margin: 0 auto 14px; max-width: 980px; font-weight: 700; letter-spacing: -.01em; text-wrap: balance; }
.nowrap { white-space: nowrap; }
.acronym { font-size: clamp(1.05rem, 2vw, 1.35rem); margin: 0 0 16px; color: var(--text); }
.acronym u { text-decoration-thickness: 1.5px; text-underline-offset: 3px; }
.authors { font-size: 1.15rem; margin: 0 0 2px; }
.venue { color: var(--muted); margin: 0 0 18px; }
.links { display: flex; flex-wrap: wrap; justify-content: center; gap: 10px; }
.btn {
  display: inline-flex; align-items: center; gap: 8px;
  padding: 8px 18px; border-radius: 999px;
  background: var(--btn-bg); color: var(--btn-text);
  text-decoration: none; font-weight: 500; font-size: .95rem;
  transition: opacity .15s ease, transform .15s ease;
}
.btn:hover { opacity: .85; transform: translateY(-1px); }
.btn.disabled { opacity: .45; cursor: not-allowed; transform: none; }

/* ---------- teaser ---------- */
.teaser { padding-block: 10px 36px; }
.teaser-video { width: 100%; border-radius: var(--radius); box-shadow: var(--shadow); background: #000; aspect-ratio: 16 / 9; object-fit: cover; }
.tldr { max-width: 860px; margin: 18px auto 0; text-align: center; font-size: 1.08rem; }

.abstract { text-align: justify; hyphens: auto; }
.full-video { width: 100%; max-width: 960px; margin: 0 auto; border-radius: var(--radius); box-shadow: var(--shadow); background: #000; aspect-ratio: 16 / 9; }

/* ---------- figures and video grids ---------- */
.figure { margin: 8px auto 0; background: #fff; border-radius: var(--radius); padding: 14px; box-shadow: var(--shadow); }
.figure img { width: 100%; height: auto; }
.figure figcaption { color: #59636e; font-size: .9rem; margin-top: 8px; text-align: center; }

.grid { display: grid; gap: 18px; }
.grid-2 { grid-template-columns: repeat(2, minmax(0, 1fr)); }
.grid-3 { grid-template-columns: repeat(3, minmax(0, 1fr)); }

.clip { margin: 0; position: relative; }
.clip video { width: 100%; border-radius: 8px; background: #000; box-shadow: var(--shadow); }
.clip figcaption { font-size: .9rem; color: var(--muted); margin-top: 8px; }
.clip figcaption strong { color: var(--text); font-weight: 600; }
.clip.wide { margin-top: 18px; }
#method .grid-3 .clip video { aspect-ratio: 1 / 1; object-fit: cover; }
#tasks .clip video, #robustness .clip video { aspect-ratio: 16 / 9; object-fit: cover; }
#teleop .clip video { aspect-ratio: 1158 / 1080; object-fit: cover; }   /* cropped teleop clips are near-square */

/* task tile header: name + speed badge */
.tile-head { display: flex; align-items: baseline; justify-content: space-between; gap: 8px; margin-top: 8px; }
.tile-name { font-weight: 600; font-size: .95rem; }
.speed { font-size: .75rem; font-weight: 600; padding: 1px 8px; border-radius: 999px; border: 1px solid var(--border); color: var(--muted); white-space: nowrap; }
.tile-desc { font-size: .85rem; color: var(--muted); margin: 2px 0 0; }

/* ---------- robustness pairs ---------- */
.pair { margin-bottom: 8px; }
.pair h3 { margin-top: 20px; }
.clip.good video { outline: 4px solid var(--good); outline-offset: -4px; }
.clip.bad video { outline: 4px solid var(--bad); outline-offset: -4px; }
.tag {
  position: absolute; top: 10px; left: 10px; z-index: 2;
  font-size: .8rem; font-weight: 700; padding: 3px 10px; border-radius: 999px; color: #fff;
}
.tag.good { background: var(--good); }
.tag.bad { background: var(--bad); }

.table-wrap { overflow-x: auto; }
table.results { border-collapse: collapse; margin: 0 auto; font-size: .92rem; min-width: 640px; }
table.results th, table.results td { padding: 7px 12px; text-align: center; border-bottom: 1px solid var(--border); white-space: nowrap; }
table.results th { font-weight: 600; }
table.results tr.sub th { font-weight: 400; color: var(--muted); font-size: .8rem; padding-top: 0; }
table.results td:first-child, table.results th:first-child { text-align: left; }
table.results tr.ours td { font-weight: 700; }

footer { padding-block: 26px; text-align: center; color: var(--muted); font-size: .85rem; border-top: 1px solid var(--border); }
footer p { margin: 0; }

/* ---------- responsive ---------- */
@media (max-width: 900px) {
  .grid-3 { grid-template-columns: repeat(2, minmax(0, 1fr)); }
}
@media (max-width: 640px) {
  section { padding-block: 32px; }
  .grid-2, .grid-3 { grid-template-columns: 1fr; }
  .abstract { text-align: left; }
  h2 { font-size: 1.4rem; }
}
@media (prefers-reduced-motion: reduce) {
  html { scroll-behavior: auto; }
  .btn { transition: none; }
}