/* Original AffordanceVLA typography and hero, shared by both project pages. */
:root{--ink:#333;--muted:#666;--purple:#8a5cd0;--deep:#574d8e;--coral:#df8268;--peach:#ffe7c2;--paper:#fff;--rule:#e7e1e9;--max:1056px;color-scheme:light}
*{box-sizing:border-box}
html{font-size:16px;line-height:1.6;scroll-behavior:smooth;scroll-padding-top:80px}
body{margin:0;font-family:Charter;color:var(--ink);background:#fff}
a{color:inherit;text-decoration:none}
button,input,select{font:inherit;color:inherit}
button{cursor:pointer}button:disabled{cursor:default}
button,a{-webkit-tap-highlight-color:transparent}
img{display:block;max-width:100%;height:auto}
::selection{background:#e9d5ed}
a:focus-visible,button:focus-visible,summary:focus-visible,input:focus-visible{outline:3px solid var(--coral);outline-offset:5px}
h1,h2,h3,p,figure{margin:0}
h2{font-size:2.12rem;font-weight:700;line-height:1.2;letter-spacing:normal}
h3{font-size:1.8rem;font-weight:600;line-height:1.3}
sup{font-size:.65em;color:var(--purple)}
.shell{width:min(var(--max),calc(100% - 64px));margin:auto}
.skip{position:fixed;top:-80px;left:20px;padding:10px 18px;background:#fff;z-index:100}.skip:focus{top:12px}
.nav{position:sticky;top:0;z-index:30;background:#fffffff2;border-bottom:1px solid var(--rule)}
.nav-inner{height:58px;display:flex;justify-content:space-between;align-items:center;gap:20px}
.series-nav{display:flex;align-items:center;gap:18px}
.series-nav a{font-size:1rem;white-space:nowrap;color:#666}
.series-nav a[aria-current=page]{color:var(--deep);font-weight:700}
.series-nav small{font-size:.75rem;margin-right:5px;color:#999}
.nav-links{display:flex;gap:25px;font-size:.95rem}
.nav-links a{display:flex;align-items:center;min-height:44px}
.nav-links a:hover{color:var(--purple)}
.hero{background:linear-gradient(-210deg,#574d8e 0%,#9b6fae 35%,#df8268 72%,#f5c6a3 100%);color:#feefc3}
.hero-inner{max-width:1600px;margin:auto;padding:50px;display:flex;justify-content:space-between;align-items:center}
.hero-content{width:calc(60% - 14px);margin-right:14px;text-align:left}
.hero h1{font-size:3.3em;font-weight:700;font-style:italic;line-height:1.2;color:#f2d399;margin:0 0 .5em;letter-spacing:normal}
.hero h1 span{color:#ffe7c2}
.subtitle{font-size:1.85em;font-weight:700;line-height:1.2;color:#f2d399;margin:-.75em 0 .5em;letter-spacing:normal}
.contributions{display:flex;flex-direction:column;gap:15px}
.contribution{display:flex;align-items:center;font-size:1rem;line-height:1.6}
.contribution img{width:30px;height:auto;max-height:36px;object-fit:contain;flex-shrink:0;margin-right:1em}
.contribution strong{color:#ffe099;font-weight:700}
.resource-links{display:flex;flex-wrap:wrap;gap:5px;margin:25px 0}
.resource-links a{display:inline-flex;align-items:center;gap:7px;background:#fff0ce;color:#000;border:2px solid #ffc10780;border-radius:20px;padding:10px 20px;font-weight:700;line-height:1.6;transition:background-color .2s,color .2s}
.resource-links a:hover{background:#eab682;color:#fff}
.resource-links span{font-size:.8em}
.hero-image{width:calc(40% - 14px);flex-shrink:0}
.hero-image img{max-width:90%;height:auto;margin:0 auto 20px}
.hero-image-pending{aspect-ratio:1}
.byline{padding:32px 0;text-align:center;border-bottom:1px solid var(--rule)}
.authors{max-width:950px;margin:auto;display:flex;justify-content:center;flex-wrap:wrap;gap:5px 16px;font-size:.95rem;line-height:1.7;color:#222}
.authors span{white-space:nowrap}.authors a:hover{color:var(--purple)}
.author-notes{font-size:.92rem;color:#999;margin-top:7px}
.affiliations{display:flex;justify-content:center;align-items:stretch;gap:20px;flex-wrap:wrap;margin-top:25px}
.affiliation{width:160px;display:flex;align-items:center;flex-direction:column;gap:11px}
.logo-box{width:150px;height:65px;display:flex;justify-content:center;align-items:center;padding:9px;border-radius:5px}
.logo-box img{max-width:100%;max-height:52px;width:auto;height:auto;object-fit:contain}
.logo-box.dark{background:#34304b}.logo-box.pku img{height:52px}
.logo-box.nus img{height:65px;max-height:65px;width:105px;object-fit:contain}
.logo-box img[src$="/knowin.svg"]{width:132px;height:17.325px}
.affiliation figcaption{font-size:1rem;line-height:1.5;color:#555}.affiliation sup{margin-right:4px}
.section{padding:50px 0;border-bottom:1px solid var(--rule)}
.section-top{display:flex;justify-content:space-between;gap:24px;align-items:flex-end;margin-bottom:25px}
.eyebrow{font-size:.9rem;color:var(--purple)}
.section .section-top .eyebrow,.abstract .eyebrow,.citation-head .eyebrow{display:none}
.section-note{font-size:.95rem;color:var(--muted)}
.abstract h2{margin-bottom:24px}
.abstract p{font-size:1.2rem;line-height:1.5;color:#333;text-align:justify}
.figure-frame{background:#fff;padding:0}
.figure-link{display:block;cursor:zoom-in}.figure-frame img{width:100%;height:auto;object-fit:contain}
.figure-caption{display:flex;justify-content:space-between;gap:20px;color:#555;font-size:.95rem;margin-top:14px}
.figure-caption a{border-bottom:1px solid #c3b5d1;white-space:nowrap}
.method-tags{display:flex;flex-wrap:wrap;justify-content:center;gap:15px;margin-top:24px}
.method-tags span{padding:5px 15px;border:1px solid var(--rule);border-radius:20px;font-size:1rem;color:var(--deep)}
.metrics{display:grid;grid-template-columns:repeat(3,1fr);margin:0 0 30px;border-top:1px solid var(--rule);border-bottom:1px solid var(--rule)}
.metric{padding:22px 20px 22px 0}.metric+.metric{padding-left:30px;border-left:1px solid var(--rule)}
.metric strong{display:block;font-size:2.5rem;color:var(--deep);font-weight:700;line-height:1.2}
.metric span{display:block;font-size:1rem;color:var(--muted);margin-top:6px}
.chart-panel{padding:28px;background:#faf7ff;border:1px solid #e3d8f5;border-radius:14px}
.tabs{display:flex;flex-wrap:wrap;gap:7px}
.tabs button,.legend button{border:1px solid #ddd4e5;border-radius:20px;background:transparent;font-size:.95rem;padding:8px 15px;min-height:36px}
.tabs button[aria-pressed=true]{background:var(--deep);border-color:var(--deep);color:#fff}
.tabs button:hover{border-color:var(--purple)}
.chart-layout{display:grid;grid-template-columns:1.05fr 1fr;gap:34px;align-items:center;padding-top:25px}
.chart-display{width:100%;min-width:0}.chart-display svg{width:100%;height:auto;display:block;overflow:visible}
.chart-title{font-size:1.5rem;font-weight:600;line-height:1.35}
.chart-protocol{font-size:.95rem;color:var(--muted);margin-top:13px;line-height:1.6}
.legend{display:flex;flex-wrap:wrap;gap:7px;margin-top:20px}.legend button{background:white}
.legend button[aria-pressed=false]{opacity:.45}
.legend i{display:inline-block;width:7px;height:7px;background:var(--series-color);border-radius:50%;margin-right:6px}
.chart-readout{padding:17px 0;font-size:.95rem;color:var(--deep);min-height:56px;font-variant-numeric:tabular-nums}
.chart-source{font-size:.85rem;color:var(--muted);margin-top:5px}.chart-source a{text-decoration:underline;text-underline-offset:3px}
.chart-display .data-dot{cursor:crosshair;transition:r .15s}.chart-display .data-dot:hover{r:6}
.source-table{margin-top:22px;border-top:1px solid #ded4e5;font-size:.95rem}.source-table summary{cursor:pointer;padding:14px 0;color:var(--deep)}
.table-scroll{overflow:auto}table{width:100%;border-collapse:collapse;white-space:nowrap;font-size:.95rem}
th,td{text-align:right;padding:9px 12px;border-bottom:1px solid #e1d9e6}th:first-child,td:first-child{text-align:left}
.scaling-control{margin-top:12px}.scaling-control label{font-size:.95rem;display:flex;justify-content:space-between}.scaling-control input{width:100%;accent-color:var(--purple)}
.demo-toolbar{display:flex;justify-content:space-between;gap:15px;align-items:center;margin-bottom:25px}
.demo-count{font-size:.9rem;color:var(--muted);white-space:nowrap}
.video-grid{display:grid;grid-template-columns:repeat(3,1fr);gap:27px 20px}
.video-card{min-width:0}.video-card[hidden]{display:none}
.video-media{position:relative;aspect-ratio:16/9;background:#e8e1e9;border-radius:10px;overflow:hidden}
.video-media video{display:block;width:100%;height:100%;object-fit:contain}
.video-start{position:absolute;inset:0;width:100%;height:100%;border:0;background:linear-gradient(180deg,transparent 60%,#241c2c30);display:grid;place-items:center}
.play-icon{width:44px;height:44px;border-radius:50%;display:grid;place-items:center;background:#fffdf1e6;color:#665481;box-shadow:0 3px 20px #2c183c20;font-size:14px;padding-left:3px;transition:transform .2s}
.video-start:hover .play-icon{transform:scale(1.1)}.video-start[hidden]{display:none}
.video-card figcaption{display:flex;justify-content:space-between;align-items:center;gap:14px;padding:12px 2px 0;font-size:1rem}
.video-card figcaption small{font-size:.8rem;color:var(--muted);white-space:nowrap}
.video-fallback{font-size:.8rem;text-decoration:underline;color:var(--muted)}
.demo-footnote{font-size:.9rem;color:var(--muted);margin-top:24px}
.citation{padding-bottom:50px}.citation-head{display:flex;justify-content:space-between;align-items:center;margin-bottom:20px}
.copy-button{border:1px solid var(--rule);background:transparent;border-radius:6px;padding:8px 16px;font-size:.95rem;min-width:106px}.copy-button:hover{background:#f0eaf4}
pre{padding:25px 28px;background:#f7f5f8;border:1px solid #e4dce9;border-radius:10px;overflow:auto;font:16px/1.6 'Courier New',monospace;white-space:pre-wrap;overflow-wrap:anywhere;color:#555}
code{font:inherit}.citation-note{font-size:.9rem;color:var(--muted);margin-top:12px}
.next-paper{display:flex;align-items:center;justify-content:space-between;gap:30px;border-top:1px solid var(--rule);padding-top:30px;margin-top:40px}
.next-paper .eyebrow{color:var(--muted);font-size:.9rem}.next-paper strong{display:block;font-size:2rem;font-style:italic;font-weight:700;color:var(--deep);margin-top:8px}.next-paper .arrow{font-size:28px;color:var(--coral)}
footer{padding:24px 0;color:var(--muted);font-size:.9rem}footer .shell{display:flex;justify-content:space-between;gap:20px}
.lightbox{width:min(1400px,96vw);max-width:96vw;max-height:94vh;padding:48px 20px 20px;border:1px solid #e1d8e8;border-radius:14px;background:#fff}
.lightbox::backdrop{background:#231b37b8;backdrop-filter:blur(6px)}.lightbox img{max-height:80vh;max-width:100%;object-fit:contain;margin:auto}.lightbox button{position:absolute;right:15px;top:9px;border:0;background:none;font-size:25px;width:34px;height:34px}
.scroll-progress{position:fixed;top:0;left:0;height:2px;width:0;z-index:50;background:linear-gradient(90deg,var(--deep),var(--coral))}
@media(max-width:1000px){.nav-links{gap:15px}.hero-inner{padding:40px 32px}.chart-layout{gap:20px}.chart-panel{padding:24px}.affiliation{width:145px}.video-grid{grid-template-columns:repeat(2,1fr)}.demo-toolbar{align-items:flex-start;flex-direction:column}}
@media(max-width:767px){html{font-size:14px}.hero-inner{padding:32px 16px 16px}.hero h1{font-size:3.3em}.subtitle{font-size:1.2em;line-height:1.4;margin:0 0 .5em}.shell{width:calc(100% - 36px)}.nav-inner{height:54px;justify-content:center}.nav-links{display:none}.section{padding:36px 0}.section-top{margin-bottom:20px}.section-note{max-width:120px;text-align:right}.authors{gap:4px 11px}.affiliations{gap:17px 10px;margin-top:25px}.affiliation{width:calc(50% - 10px)}.abstract p{font-size:1.2rem;line-height:1.65}.figure-caption{font-size:.9rem;gap:10px}.method-tags{gap:7px;margin-top:15px}.metrics{margin-bottom:23px}.metric{padding:18px 8px 18px 0}.metric+.metric{padding-left:13px}.metric strong{font-size:clamp(20px,5.5vw,28px);white-space:nowrap}.metric span{font-size:.9rem;line-height:1.5}.chart-panel{padding:18px}.chart-layout{grid-template-columns:1fr;padding-top:8px;gap:8px}.chart-display{max-width:430px;margin:auto}.chart-readout{min-height:0;padding:13px 0}.tabs button{padding:7px 12px}.video-grid{gap:21px 12px}.video-card figcaption{align-items:flex-start;flex-direction:column;gap:2px}.play-icon{width:35px;height:35px;font-size:11px}.video-media{border-radius:7px}pre{padding:17px;font-size:14px}}
@media(max-width:599px){.hero-inner{display:block}.hero-content{width:100%;margin:0}.hero h1{font-size:3em;margin-bottom:.125em;overflow-wrap:anywhere}.hero-image{width:90%;margin:0 auto}.hero-image img{max-width:100%}.hero-image-pending{aspect-ratio:1}.resource-links{gap:5px;margin:20px 0}.resource-links a{padding:8px 15px}.contribution img{margin-right:1em}.section-top{align-items:flex-start}h2{font-size:2em}.section-note{font-size:.85rem}.figure-caption{flex-wrap:wrap}}
@media(prefers-reduced-motion:reduce){html{scroll-behavior:auto}*,*:before,*:after{animation:none!important;transition:none!important}}

/* Shared alignment: headings and illustrations never depend on contribution length. */
.hero-inner{display:grid;grid-template-columns:minmax(0,3fr) minmax(0,2fr);grid-template-areas:"heading visual" "summary visual";grid-template-rows:auto 1fr;column-gap:28px;align-items:start}
.hero-heading{grid-area:heading;min-width:0}
.hero-summary{grid-area:summary;min-width:0}
.hero-image{grid-area:visual;width:100%;margin:12px 0 0;align-self:start}
.hero-image img{display:block;width:90%;max-width:90%;aspect-ratio:1;object-fit:contain;height:auto;margin:0 auto}
.hero h1{white-space:nowrap}
.byline>.shell{--max:1140px}
.authors{max-width:1060px;gap:5px 18px;margin-bottom:18px}
.author-affiliations{display:flex;flex-wrap:wrap;justify-content:center;gap:5px 23px;max-width:1080px;margin:0 auto 13px;padding:0;list-style:none;color:#625b69;font-size:.95rem;line-height:1.75}
.author-affiliations li{max-width:100%}
.author-affiliations sup{margin-right:4px;color:var(--purple);font-size:.75em}
.author-notes{margin:0;font-size:.85rem;color:#777}
.institution-logos{display:flex;flex-wrap:nowrap;align-items:center;justify-content:safe center;gap:24px;max-width:1140px;margin:26px auto 4px;padding:8px 2px;overflow-x:auto;scrollbar-width:thin;scrollbar-color:#d8cce6 transparent}
.institution-logo{display:flex;align-items:center;justify-content:center;flex:0 0 150px;width:150px;height:60px;min-width:0;background:#fff}
.institution-logo img{display:block;max-width:150px;max-height:54px;width:auto;height:auto;object-fit:contain}
.institution-logo:focus-visible{outline-offset:-3px}
.institution-logo img[src$="knowin-dark.svg"]{width:144px;height:18.9px}
.section-top{align-items:center}
#teaser .section-top,#method .section-top{margin-bottom:28px}
#results>.shell{--max:1140px}
#results>.shell>h2{margin-bottom:24px}
.next-paper strong{margin-top:0}
@media(max-width:1000px){.hero-inner{column-gap:24px}.institution-logos{justify-content:flex-start;gap:20px}}
@media(max-width:767px){.hero-inner{grid-template-columns:1fr;grid-template-areas:"heading" "visual" "summary";grid-template-rows:auto auto auto;row-gap:22px}.hero-heading{min-height:128px}.hero-image{width:min(420px,90%);margin:0 auto}.hero-image img{width:100%;max-width:100%}.hero-summary{width:100%}.hero h1{font-size:clamp(34px,10.75vw,42px)}.subtitle{font-size:1.2em;line-height:1.4}.institution-logos{gap:19px;margin-block:21px 4px}.institution-logo{flex-basis:132px;width:132px;height:52px}.institution-logo img{max-width:132px;max-height:46px}.institution-logo img[src$="knowin-dark.svg"]{width:128px;height:16.8px}.author-affiliations{font-size:13px;gap:4px 15px}.authors{margin-bottom:14px}.author-notes{font-size:12px}}
@media(max-width:599px){.hero-inner{display:grid}.hero-image{width:min(420px,90%);margin:0 auto}.hero-image img{max-width:100%}}