@font-face{font-family:"Fusion Pixel";src:url("./assets/fusion-pixel-latin-subset.woff2") format("woff2");font-weight:400;font-style:normal;font-display:swap}

/* Tokens: one green-graphite family for every surface; the lime accent marks brand and interaction. */
:root{
  --bg:#0b0d0b;--bg-2:#0f120f;--surface:#121612;--surface-2:#181d18;
  --line:rgba(214,235,200,.085);--line-strong:rgba(214,235,200,.16);
  --text:#eef1ea;--text-2:#b3b9ad;--text-3:#7f877a;
  --accent:#b8f34a;--accent-soft:rgba(184,243,74,.085);--accent-line:rgba(184,243,74,.42);--accent-ink:#0e1606;
  --hero-wire:#8b9875;--viewer-bg:#131713;
  --radius:12px;--radius-sm:7px;--shadow:0 30px 70px -38px rgba(0,0,0,.85);
  --ease-out:cubic-bezier(.16,1,.3,1);
  --sans:-apple-system,BlinkMacSystemFont,"Segoe UI Variable Text","Segoe UI",Roboto,"Helvetica Neue",Arial,"PingFang SC","Microsoft YaHei",sans-serif;
  --display:-apple-system,BlinkMacSystemFont,"Segoe UI Variable Display","Segoe UI",Roboto,"Helvetica Neue",Arial,"PingFang SC","Microsoft YaHei",sans-serif;
  --mono:ui-monospace,"SF Mono",Menlo,Consolas,"Liberation Mono",monospace;
  --pixel:"Fusion Pixel",var(--mono);
  --nav-h:64px;
  color-scheme:dark;font-family:var(--sans)
}

/* Base */
*{box-sizing:border-box}
html{scroll-behavior:smooth;scroll-padding-top:calc(var(--nav-h) + 24px);-webkit-text-size-adjust:100%}
body{margin:0;background:var(--bg);color:var(--text);-webkit-font-smoothing:antialiased;-moz-osx-font-smoothing:grayscale;text-rendering:optimizeLegibility}
::selection{background:var(--accent);color:var(--accent-ink)}
a{color:inherit;text-decoration:none;transition:color .2s}
a:hover{color:var(--accent)}
button,input,select{font:inherit}
button{color:inherit;cursor:pointer}
a,button{-webkit-tap-highlight-color:transparent}
a:focus-visible,button:focus-visible,input:focus-visible,select:focus-visible,[tabindex]:focus-visible{outline:2px solid var(--accent);outline-offset:4px;border-radius:4px}
p{font-size:17px;line-height:1.75;color:var(--text-2)}
strong{color:var(--text);font-weight:600}
em{color:var(--text)}
.skip-link{position:fixed;top:-100px;left:20px;z-index:40;padding:10px 14px;border-radius:var(--radius-sm);background:var(--accent);color:var(--accent-ink);font-weight:600}
.skip-link:focus{top:12px}
.no-script{padding:15px 5vw}

/* Navigation: sticky, translucent, with reading progress. */
.nav{position:sticky;top:0;z-index:30;background:color-mix(in srgb,var(--bg) 78%,transparent);-webkit-backdrop-filter:saturate(1.4) blur(14px);backdrop-filter:saturate(1.4) blur(14px);border-bottom:1px solid var(--line)}
.nav-inner{display:flex;align-items:center;justify-content:space-between;gap:24px;height:var(--nav-h);width:90%;max-width:1320px;margin:0 auto}
.brand{display:flex;align-items:center;gap:11px;font:600 20px/1 var(--display);letter-spacing:-.02em}
.brand:hover{color:var(--text)}
.brand-mark{width:34px;height:34px;flex-shrink:0;padding:4px;border-radius:9px;background:#050605;box-shadow:inset 0 0 0 1px var(--line)}
.brand-dot{margin-left:3px;font-size:10px;vertical-align:top;color:var(--accent)}
.nav nav{display:flex;align-items:center;gap:6px;font-size:13.5px}
.nav nav a{padding:8px 12px;border-radius:999px;color:var(--text-2);transition:color .2s,background-color .2s}
.nav nav a:hover{background:var(--surface-2);color:var(--text)}
.nav nav a.is-active{color:var(--text)}
.nav nav span{margin-left:4px;color:var(--accent)}
.studio-link{margin-left:8px;border:1px solid var(--line-strong)}
.nav nav a.beta-nav-link{border:1px solid var(--accent-line);background:var(--accent-soft);color:var(--accent)}
.nav nav a.beta-nav-link:hover{background:var(--accent);color:var(--accent-ink)}
.nav nav a.beta-nav-link:hover span{color:var(--accent-ink)}
.read-progress{position:absolute;left:0;right:0;bottom:-1px;height:2px;overflow:hidden;pointer-events:none}
.read-progress i{display:block;height:100%;background:var(--accent);transform:scaleX(var(--progress,0));transform-origin:left center;will-change:transform}

/* Cover */
.hero{position:relative;display:flex;align-items:center;min-height:clamp(560px,calc(100vh - var(--nav-h) - 60px),700px);overflow:hidden;background:var(--bg);border-bottom:1px solid var(--line)}
#world{position:absolute;inset:0 0 0 36%;opacity:0;transition:opacity 1.2s ease}
#world.is-ready{opacity:.85}
#world canvas{display:block;width:100%;height:100%}
.veil{position:absolute;inset:0;pointer-events:none;background:linear-gradient(90deg,var(--bg) 30%,color-mix(in srgb,var(--bg) 92%,transparent) 42%,color-mix(in srgb,var(--bg) 22%,transparent) 72%,transparent),linear-gradient(0deg,var(--bg),transparent 22%)}
.hero-glow{position:absolute;left:-10%;top:-30%;width:70%;height:120%;pointer-events:none;background:radial-gradient(closest-side,rgba(184,243,74,.07),transparent 70%)}
.cover{position:relative;z-index:1;width:90%;max-width:1320px;margin:auto;padding:64px 0 60px}
.eyebrow{margin:0 0 12px;font:12px/1.4 var(--pixel);letter-spacing:.1em;color:var(--accent)}
.cover>.eyebrow{display:inline-flex;align-items:center;gap:10px;margin-bottom:26px;padding:6px 11px;border:1px solid var(--accent-line);border-radius:999px;background:var(--accent-soft)}
.cover>.eyebrow:before{content:"";width:6px;height:6px;border-radius:50%;background:var(--accent);box-shadow:0 0 10px var(--accent)}
h1{max-width:820px;margin:0 0 20px;font:600 clamp(40px,4.6vw,70px)/1.04 var(--display);letter-spacing:-.035em;text-wrap:balance}
/* Each line masks its own rise; the padding keeps descenders inside the mask. */
.title-line{display:block;overflow:hidden;padding-bottom:.14em;margin-bottom:-.14em}
.title-line>span{display:inline-block}
.period{color:var(--accent)}
.cover-subtitle{margin:0 0 14px;font-size:clamp(18px,1.6vw,21px);line-height:1.45;color:var(--text)}
.cover-summary{max-width:520px;margin:0 0 34px;font-size:16.5px;line-height:1.65}
.beta-access-link{display:inline-flex;align-items:center;gap:12px;min-height:44px;margin-bottom:23px;padding:0 15px;border:1px solid var(--accent-line);border-radius:999px;background:var(--accent-soft);color:var(--accent);font:600 13px var(--display);transition:background .2s,color .2s,border-color .2s,transform .2s}
.beta-access-link:hover{transform:translateY(-2px);border-color:var(--accent);background:var(--accent);color:var(--accent-ink)}
.beta-access-dot{width:7px;height:7px;border-radius:50%;background:currentColor;box-shadow:0 0 10px var(--accent)}
.beta-access-link>span:last-child{margin-left:6px;font-size:16px;font-weight:400}

/* Cover resources: GitHub is the only live destination, so it leads; the rest recede. */
.project-links{display:grid;grid-template-columns:repeat(4,minmax(0,1fr));gap:10px;max-width:820px}
.project-links .resource-card{display:flex;align-items:center;gap:12px;min-width:0;min-height:68px;padding:13px 15px;border:1px solid var(--line-strong);border-radius:var(--radius-sm);background:color-mix(in srgb,var(--surface) 80%,transparent);color:var(--text)}
.project-links .resource-card-github{border-color:var(--accent);background:var(--accent);color:var(--accent-ink);transition:transform .25s var(--ease-out),box-shadow .25s,filter .25s}
.project-links .resource-card-github:hover{color:var(--accent-ink);transform:translateY(-2px);filter:brightness(1.06);box-shadow:0 12px 34px -12px rgba(184,243,74,.55)}
.project-links .resource-card-soon{cursor:default;border-style:dashed;background:transparent;color:var(--text-2)}
.project-links .resource-icon{display:block;flex:0 0 22px;width:22px;height:22px}
.project-links .resource-icon-emoji{font-size:20px;line-height:22px;text-align:center;filter:grayscale(.35)}
.project-links .resource-copy{display:flex;flex-direction:column;gap:3px;min-width:0;font-size:14px;line-height:1.2}
.project-links .resource-copy strong{color:inherit;font-weight:600;white-space:nowrap}
.project-links .resource-copy small{font-size:11.5px;color:var(--text-3);white-space:nowrap}
.project-links .resource-card-github small{color:#3d5418}
.project-links .resource-arrow{margin-left:auto;font-size:16px;transition:transform .25s var(--ease-out)}
.project-links .resource-card-github:hover .resource-arrow{transform:translate(2px,-2px)}

/* Intro and scroll motion: CSS only; the page is fully readable without it. */
@media(prefers-reduced-motion:no-preference){
  .js .title-line>span{animation:rise 1.15s var(--ease-out) both;animation-delay:calc(var(--i) * 110ms + 60ms)}
  .js .reveal{animation:fade-up .95s var(--ease-out) both;animation-delay:calc(var(--i) * 90ms + 420ms)}
  .js .cover>.eyebrow{animation-delay:0s}
  .js [data-reveal]{opacity:0;transform:translateY(22px);transition:opacity .8s var(--ease-out),transform .9s var(--ease-out)}
  .js [data-reveal].in{opacity:1;transform:none}
}
@keyframes rise{from{transform:translateY(105%)}to{transform:none}}
@keyframes fade-up{from{opacity:0;transform:translateY(16px)}to{opacity:1;transform:none}}

/* Article layout */
.article-grid{display:grid;grid-template-columns:180px minmax(0,1fr);gap:64px;width:90%;max-width:1320px;margin:0 auto;padding:72px 0 24px}
.article-toc{min-width:0}
.article-toc nav{position:sticky;top:calc(var(--nav-h) + 32px);display:flex;flex-direction:column;border-left:1px solid var(--line)}
.article-toc p{margin:0 0 14px;padding-left:16px;font:10.5px var(--mono);letter-spacing:.12em;color:var(--text-3)}
.article-toc a{position:relative;display:flex;align-items:baseline;gap:11px;padding:8px 0 8px 16px;font:10.5px var(--mono);color:var(--text-3)}
.article-toc a:before{content:"";position:absolute;left:-1px;top:8px;bottom:8px;width:2px;border-radius:2px;background:var(--accent);transform:scaleY(0);transition:transform .35s var(--ease-out)}
.article-toc a span{font:13.5px var(--sans);color:var(--text-2);transition:color .2s}
.article-toc a:hover span{color:var(--text)}
.article-toc a.is-active{color:var(--accent)}
.article-toc a.is-active span{color:var(--text)}
.article-toc a.is-active:before{transform:none}
/* Prose runs the full column so text and figures share one right edge; the type grows with the
   viewport so the longer lines stay comfortable to read. */
.article-body{min-width:0;--prose-size:clamp(17px,11.4px + .44vw,19px);--prose-leading:1.8}
.article-section,.articulation-section{margin:0;padding:0 0 72px}
.article-section+.article-section,.articulation-section,.articulation-section+.article-section{padding-top:64px;border-top:1px solid var(--line)}
.section-heading{display:flex;align-items:flex-start;gap:18px;margin:0 0 28px}
.section-heading>div{min-width:0}
.section-number{display:grid;place-items:center;flex-shrink:0;width:36px;height:36px;margin-top:2px;border:1px solid var(--line-strong);border-radius:9px;font:12px var(--mono);color:var(--text-3)}
.section-heading .eyebrow{margin-bottom:10px}
h2{margin:0;font:600 clamp(26px,2.4vw,36px)/1.18 var(--display);letter-spacing:-.028em;text-wrap:balance}
h3{margin:0 0 12px;font-size:17px;font-weight:600;letter-spacing:-.015em}
.article-body>section>p{margin:0 0 20px}
.article-body>section>p:not(.articulation-caption){font-size:var(--prose-size);line-height:var(--prose-leading);text-wrap:pretty}
.article-body>section>p.section-intro{font-size:calc(var(--prose-size) + .5px);color:var(--text-2)}
.article-body>section>p.articulation-caption{margin:0}
.article-quote{position:relative;margin:36px 0;padding:26px 30px 26px 34px;border:1px solid var(--line);border-radius:var(--radius);background:linear-gradient(135deg,var(--accent-soft),transparent 60%),var(--surface);font:500 clamp(18px,1.55vw,21px)/1.55 var(--display);letter-spacing:-.012em;color:var(--text)}
.article-quote:before{content:"";position:absolute;left:0;top:22px;bottom:22px;width:3px;border-radius:0 3px 3px 0;background:var(--accent)}

/* Figure 01: editable HTML/SVG diagram fitted by app.js. */
.architecture-figure{margin:36px 0 38px;border:1px solid var(--line);border-radius:var(--radius);overflow:hidden;background:var(--surface);box-shadow:var(--shadow)}
.architecture-figure-head{display:flex;align-items:center;gap:16px;padding:14px 18px;border-bottom:1px solid var(--line);font:10.5px var(--mono);letter-spacing:.1em;color:var(--text-3)}
.architecture-figure-head strong{font-weight:400;color:var(--text-2)}
.architecture-pan-hint{display:none;margin-left:auto;font-style:normal;color:var(--accent);animation:nudge 2.4s ease-in-out infinite}
.architecture-figure.is-overflowing .architecture-pan-hint{display:inline}
@keyframes nudge{50%{transform:translateX(4px)}}
.architecture-canvas{position:relative;overflow-x:auto;overscroll-behavior-inline:contain;scrollbar-width:thin;scrollbar-color:var(--line-strong) transparent}
.architecture-figure.is-overflowing .architecture-canvas{-webkit-mask-image:linear-gradient(90deg,#000 88%,transparent);mask-image:linear-gradient(90deg,#000 88%,transparent)}
.architecture-figure.is-overflowing.is-scrolled-end .architecture-canvas{-webkit-mask-image:none;mask-image:none}
.architecture-figure figcaption{display:flex;justify-content:space-between;gap:25px;padding:14px 18px;border-top:1px solid var(--line);font:12px/1.65 var(--mono);color:var(--text-3)}
.architecture-figure figcaption span:last-child{color:var(--text-2);text-align:right}
.workflow-board{position:relative;width:1180px;height:780px;min-width:1180px;zoom:var(--board-zoom,.89);background:#0f1311;overflow:hidden}
/* Scene-level reconstruction workflow: fixed coordinates from the method deck, so it keeps the
   deck's Arial metrics on every platform. It stays dark in every theme. */
.scene-method-diagram{--method-node:#1a211d;--method-border:#46564b;--method-copy:#aeb8b1;position:absolute;inset:0;background:radial-gradient(circle at 62% 35%,#18211b 0,#101512 44%,#0d110f 100%);color:var(--text);font-family:Arial,"Liberation Sans","Microsoft YaHei",sans-serif;overflow:hidden}
.scene-method-card{position:relative;z-index:2;min-width:0;padding:12px;border:1px solid var(--method-border);border-radius:10px;background:var(--method-node);box-shadow:0 12px 28px #0002;overflow:hidden}
.scene-method-card h3,.scene-method-card h4,.scene-method-card h5,.scene-method-title,.scene-method-articulation h3{margin:0;color:var(--text);font-weight:500;letter-spacing:-.02em}
.scene-method-card h3,.scene-method-articulation h3{display:flex;align-items:center;gap:8px;font-size:19px}
.scene-method-card h4{display:flex;align-items:center;gap:7px;font-size:17px}
.scene-method-card h5{font-size:14px;line-height:1.2}
.scene-method-icon{display:block;flex:0 0 auto;width:30px;height:30px;object-fit:contain}
.scene-method-card p{margin:7px 0 0;color:var(--method-copy);font-size:11px;line-height:1.45}
.scene-method-card small{display:block;color:var(--method-copy);font-size:10px;line-height:1.4}
.scene-method-card img{display:block}
.scene-method-observations{position:absolute;left:18px;top:54px;width:205px;height:220px}
.scene-method-photo-pair{display:grid;grid-template-columns:1fr 1fr;gap:5px;margin-top:10px}
.scene-method-photo-pair img{width:100%;height:108px;object-fit:cover;border:1px solid #ffffff18;border-radius:5px}
.scene-method-photo-pair-observations img:first-child{object-position:50% 62%}
.scene-method-photo-pair-observations img:last-child{object-position:50% 55%}
.scene-method-observations p{text-align:center;color:#d5d9d3}
.scene-method-handoff{position:absolute;left:18px;top:305px;width:205px;height:225px}
.scene-method-handoff-visual{display:grid;grid-template-columns:1fr 22px 1fr;align-items:center;gap:4px;margin:12px 0 9px}
.scene-method-handoff-visual img{width:100%;height:72px;object-fit:cover;border:1px solid #ffffff18;border-radius:5px}
.scene-method-handoff-visual span{text-align:center;color:var(--accent);font-size:18px}
.scene-method-handoff p{color:#d5d9d3}
.scene-method-handoff small{margin-top:10px}
.scene-method-reconstruction{position:absolute;z-index:2;left:245px;top:18px;width:915px;height:520px;padding:14px;border:1px solid var(--method-border);border-radius:14px;background:#121915e8;box-shadow:0 18px 45px #0003}
.scene-method-title{display:flex;align-items:center;justify-content:center;gap:9px;height:38px;font-size:27px}
.scene-method-title .scene-method-icon{width:38px;height:38px}
.scene-method-top-row{display:grid;grid-template-columns:190px minmax(0,1fr) 242px;gap:12px;height:170px;margin-top:7px}
.scene-method-agent{background:#26231a;border-color:#88733f}
.scene-method-agent p{margin-top:38px;color:#e0e2dc;font-size:13px}
.scene-method-agent small{margin-top:4px}
.scene-method-tools{background:#191e22;border-color:#605a86}
.scene-method-tools-body{display:grid;grid-template-columns:105px 1fr;gap:12px;margin-top:11px}
.scene-method-tools code{display:block;padding:8px 9px;border-radius:7px;background:#0c0f12;color:#e9eee5;font:10px/1.45 var(--mono)}
.scene-method-tools-body p{margin:1px 0 0;font-size:10px;line-height:1.55}
.scene-method-tools-body strong{color:#e4e9e1;font-size:12px;font-weight:500}
.scene-method-tools>small{margin-top:9px}
.scene-method-output{background:#15241d;border-color:#3d7455}
.scene-method-output h4{justify-content:center}
.scene-method-output>small{margin-top:6px;text-align:center}
.scene-method-labeled-pair{display:grid;grid-template-columns:1fr 1fr;gap:4px;margin-top:7px}
.scene-method-labeled-pair span{text-align:center;color:var(--accent);font:9px var(--mono)}
.scene-method-labeled-pair img{width:100%;height:74px;object-fit:cover;border:1px solid #ffffff18;border-radius:5px}
.scene-method-output .scene-method-labeled-pair img{height:78px}
.scene-method-output .scene-method-labeled-pair img:first-of-type{object-position:50% 48%}
.scene-method-output .scene-method-labeled-pair img:last-of-type{object-position:50% 47%}
.scene-method-specialists{height:250px;margin-top:12px;padding:9px;border:1px solid var(--method-border);border-radius:11px;background:#18211cf0}
/* The connector arrows run through the header row and under the grid, so both labels sit clear of them. */
.scene-method-specialists-head{display:flex;align-items:baseline;gap:14px;margin-bottom:8px}
.scene-method-specialists-head h4{margin:0;color:var(--text);font-size:17px;font-weight:500}
.scene-method-specialists-head span{color:var(--method-copy);font:9px var(--mono)}
.scene-method-specialist-grid{display:grid;grid-template-columns:1fr 1.15fr 1.15fr 1fr;gap:10px;height:169px}
.scene-method-specialist-grid>.scene-method-card{padding:9px;background:#171e1a}
.scene-method-specialist-grid h5{text-align:center}
.scene-method-specialist-grid small{margin-top:6px;text-align:center}
.scene-method-program-tree{display:block;width:106px;height:62px;margin:17px auto 8px;fill:#1b2520;stroke:var(--accent);stroke-width:1.6}
.scene-method-refine .scene-method-labeled-pair img,.scene-method-feedback .scene-method-labeled-pair img{height:78px}
.scene-method-refine .scene-method-labeled-pair img{object-position:center}
.scene-method-feedback .scene-method-labeled-pair img{object-position:50% 54%}
.scene-method-integration-icons{display:flex;align-items:center;justify-content:center;gap:20px;margin:22px 0 12px}
.scene-method-integration-icons img{width:44px;height:44px;object-fit:contain}
.scene-method-specialists>p{width:max-content;margin:6px 0 0 auto;text-align:right;color:var(--method-copy);font:9px/1.35 var(--mono)}
.scene-method-articulation{position:absolute;z-index:2;left:18px;top:566px;display:grid;grid-template-columns:minmax(0,1fr) 250px 175px;gap:18px;align-items:center;width:1142px;height:196px;padding:14px 16px;border:1px solid #3e6752;border-radius:13px;background:#122019ed;box-shadow:0 18px 45px #0003}
.scene-method-articulation-copy{min-width:0;align-self:stretch}
.scene-method-articulation h3{font-size:24px}
.scene-method-articulation-flow{display:grid;grid-template-columns:1fr 20px 1fr 20px 1fr;align-items:center;gap:5px;margin-top:22px}
.scene-method-articulation-flow span{padding:12px 8px;border:1px solid #4c755f;border-radius:6px;background:#17261f;text-align:center;color:#e2e6e0;font-size:12px}
.scene-method-articulation-flow b{text-align:center;color:var(--accent);font-size:17px;font-weight:400}
.scene-method-articulation-copy p{margin:13px 0 0;color:#8fae9c;font-size:11px}
.scene-method-robot-scene{width:250px;height:150px;object-fit:cover;border:1px solid var(--method-border);border-radius:7px}
.scene-method-robot-copy{display:flex;flex-direction:column;gap:10px;color:var(--text)}
.scene-method-robot-copy strong{font-size:17px;line-height:1.35;font-weight:500}
.scene-method-robot-copy span{color:#87aa96;font-size:12px;line-height:1.45}
.scene-method-links{position:absolute;inset:0;z-index:3;width:1180px;height:780px;pointer-events:none;overflow:visible}
.scene-method-links path{fill:none;stroke:var(--accent);stroke-width:1.8;stroke-linecap:round;stroke-linejoin:round;marker-end:url(#scene-method-arrowhead)}
.scene-method-links marker path{fill:var(--accent);stroke:none}
.scene-method-links .scene-method-link-feedback{stroke:#94c940;stroke-dasharray:6 7;animation:scene-method-flow 1.15s linear infinite}
@keyframes scene-method-flow{to{stroke-dashoffset:-26}}
/* Photographic evidence: a small hover lift; click opens the lightbox (app.js). */
.scene-method-photo-pair img,.scene-method-handoff-visual img,.scene-method-labeled-pair img,.scene-method-robot-scene{position:relative;z-index:0;transform-origin:center;transition:transform .2s var(--ease-out),border-color .2s,box-shadow .2s}
@media(hover:hover) and (pointer:fine){
  .scene-method-photo-pair img,.scene-method-handoff-visual img,.scene-method-labeled-pair img,.scene-method-robot-scene{cursor:zoom-in}
  .scene-method-photo-pair img:hover,.scene-method-handoff-visual img:hover,.scene-method-labeled-pair img:hover,.scene-method-robot-scene:hover{z-index:5;transform:scale(1.045);border-color:var(--accent-line);box-shadow:0 7px 18px #0008}
}

/* Studio videos */
.scene-demo{margin:0}
.scene-video-card{margin:28px 0 0;border:1px solid var(--line);border-radius:var(--radius);overflow:hidden;background:var(--surface);box-shadow:var(--shadow)}
.scene-video-bar{display:flex;justify-content:space-between;gap:15px;padding:14px 18px;border-bottom:1px solid var(--line);font:10.5px var(--mono);letter-spacing:.08em;color:var(--text-3)}
.scene-video-bar a{color:var(--text-2)}
.scene-video-bar a:hover{color:var(--accent)}
.scene-video{display:block;width:100%;height:auto;max-height:680px;object-fit:contain;background:#0a0c0a}
.js .scene-video:not([poster]){background:linear-gradient(100deg,#0a0c0a 30%,#131813 50%,#0a0c0a 70%) 0 0/300% 100%;animation:shimmer 1.8s linear infinite}
.scene-video-card figcaption{display:flex;gap:28px;padding:14px 18px;border-top:1px solid var(--line);font-size:13.5px;color:var(--text-3)}
.scene-video-card figcaption span+span{color:var(--text-2)}
.scene-video-error{margin:0;padding:14px 18px;font-size:13px}
.scene-video-error a{color:var(--accent)}
@keyframes shimmer{to{background-position:-300% 0}}
.scene-inspector-intro,.sim2real-intro{margin:56px 0 0}
.scene-inspector-intro h3,.sim2real-intro h3{margin:0 0 10px;font:600 clamp(21px,2vw,27px)/1.25 var(--display);letter-spacing:-.022em}
.scene-inspector-intro>p:last-child,.sim2real-intro>p:last-child{margin:0;font-size:var(--prose-size);line-height:var(--prose-leading);text-wrap:pretty}
.scene-video-card-sim2real{margin-top:22px}

/* Scene 01 explorer: stays dark in every theme, like a viewport. */
.scene-explorer{--scene-panel:var(--surface);--scene-border:var(--line);margin:22px 0 0;border:1px solid var(--scene-border);border-radius:var(--radius);overflow:hidden;background:var(--scene-panel);color:var(--text);box-shadow:var(--shadow)}
.scene-explorer-bar{display:flex;align-items:center;justify-content:space-between;gap:20px;min-height:58px;padding:10px 12px 10px 18px;border-bottom:1px solid var(--scene-border);font:10.5px var(--mono);letter-spacing:.08em;color:var(--text-3)}
.scene-explorer-bar b{font-weight:400;color:var(--text-2)}
.scene-explorer-bar button{display:inline-flex;align-items:center;gap:9px;min-height:36px;padding:8px 14px;border:1px solid var(--accent-line);border-radius:999px;background:var(--accent-soft);color:var(--accent);font:11px var(--mono);letter-spacing:.05em;transition:background-color .2s,color .2s,border-color .2s}
.scene-explorer-bar button:hover,.scene-explorer-bar button[aria-pressed=true]{border-color:var(--accent);background:var(--accent);color:var(--accent-ink)}
.scene-explorer-bar button i{position:relative;width:15px;height:11px;border:1px solid currentColor;border-radius:50%}
.scene-explorer-bar button i:after{content:"";position:absolute;left:5px;top:3px;width:3px;height:3px;border-radius:50%;background:currentColor}
.scene-explorer-body{position:relative;display:block;min-width:0}
.scene-explorer-stage{position:relative;min-width:0;height:590px;overflow:hidden;background:radial-gradient(circle at 58% 40%,#1a211a 0,#0e120e 57%,#090b09 100%);isolation:isolate}
.scene-explorer-stage canvas{position:absolute;inset:0;display:block;width:100%;height:100%;touch-action:none;cursor:grab;animation:fade-in .6s ease both}
.scene-explorer-stage canvas:active{cursor:grabbing}
.scene-explorer-status{position:absolute;z-index:4;inset:0;display:grid;place-items:center;padding:25px;background:linear-gradient(100deg,#0d110d 30%,#141a14 50%,#0d110d 70%) 0 0/300% 100%;animation:shimmer 2.2s linear infinite;color:var(--text-2);font:11.5px var(--mono);letter-spacing:.04em}
.scene-explorer-status:before{content:"";position:absolute;top:calc(50% - 40px);width:24px;height:24px;border:1.5px solid var(--line-strong);border-top-color:var(--accent);border-radius:50%;animation:loading-spin .9s linear infinite}
.scene-explorer-status.is-error{color:#efaaa2;animation:none}
.scene-explorer-status.is-error:before{display:none}
.scene-explorer-status[hidden]{display:none}
.scene-explorer-hint{position:absolute;z-index:3;left:16px;bottom:14px;margin:0;padding:6px 10px;border-radius:999px;background:#0b0e0bd0;-webkit-backdrop-filter:blur(6px);backdrop-filter:blur(6px);font:10.5px/1.5 var(--mono);letter-spacing:.02em;color:var(--text-2);pointer-events:none}
.scene-explorer-tip{position:absolute;z-index:5;min-width:165px;max-width:220px;padding:9px 11px;border:1px solid var(--line-strong);border-radius:8px;background:#0f130fef;box-shadow:0 12px 30px #0009;pointer-events:none}
.scene-explorer-tip[hidden]{display:none}
.scene-explorer-tip span,.scene-explorer-tip b,.scene-explorer-tip code{display:block}
.scene-explorer-tip span{font:9.5px var(--mono);letter-spacing:.08em;text-transform:uppercase;color:var(--accent)}
.scene-explorer-tip b{margin:5px 0 4px;font-size:12.5px;font-weight:600;color:var(--text)}
.scene-explorer-tip code{font:10.5px var(--mono);color:var(--text-3)}
.scene-explorer-code-panel{position:absolute;z-index:7;top:10px;left:10px;display:grid;grid-template-rows:auto auto auto minmax(0,1fr);width:min(480px,calc(100% - 20px));max-height:min(410px,calc(100% - 20px));min-width:0;border:1px solid var(--line-strong);border-radius:10px;overflow:hidden;background:#0d110df2;-webkit-backdrop-filter:blur(10px);backdrop-filter:blur(10px);box-shadow:0 22px 50px #000b;animation:pop-in .28s var(--ease-out) both}
.scene-explorer-code-panel[hidden]{display:none}
.scene-explorer-code-head{position:relative;min-width:0;padding:12px 46px 10px 15px;border-bottom:1px solid var(--line)}
.scene-explorer-code-head h4{margin:0 0 4px;overflow:hidden;font:600 15px/1.3 var(--display);letter-spacing:-.01em;color:var(--text);white-space:nowrap;text-overflow:ellipsis}
.scene-explorer-code-head span{font:9.5px var(--mono);letter-spacing:.1em;color:var(--text-3)}
.scene-explorer-source-controls{display:grid;grid-template-columns:1fr 1fr;gap:8px;padding:10px 13px 7px;border-bottom:1px solid var(--line)}
.scene-explorer-source-controls label{display:grid;gap:4px;min-width:0;color:var(--text-3);font:9px var(--mono);letter-spacing:.04em}
.scene-explorer-source-controls select{width:100%;min-width:0;padding:6px 22px 6px 8px;border:1px solid var(--line-strong);border-radius:5px;background:var(--surface-2);color:var(--text);font:11px var(--sans);text-overflow:ellipsis}
.scene-explorer-code-provenance{margin:0;padding:8px 13px;border-bottom:1px solid var(--line);font:9px/1.4 var(--mono);color:var(--text-3);overflow-wrap:anywhere}
.scene-explorer-code-close{position:absolute;top:9px;right:9px;width:28px;height:28px;padding:0;border:1px solid var(--line-strong);border-radius:7px;background:var(--surface-2);color:var(--text-2);font-size:17px;line-height:1;transition:background-color .2s,color .2s}
.scene-explorer-code-close:hover{border-color:var(--accent);background:var(--accent);color:var(--accent-ink)}
.scene-explorer-code-panel pre{min-width:0;min-height:0;max-height:245px;margin:0;padding:10px 0;overflow:auto;font:11px/1.6 var(--mono);color:#e4e8dc;scrollbar-width:thin;scrollbar-color:var(--line-strong) transparent}
.scene-code-line{display:block;width:max-content;min-width:100%;padding:2px 14px;border-left:2px solid transparent;white-space:pre;transition:background-color .15s}
.scene-code-line::before{content:attr(data-line-number);display:inline-block;width:3.5em;margin-right:10px;color:#697768;text-align:right;user-select:none}
.scene-code-line.is-active{border-left-color:var(--accent);background:var(--accent-soft)}
.scene-code-comment{color:#8a9a83}
.scene-code-declaration{color:var(--text)}
.scene-code-operation{color:#dfe4d4}
.scene-code-operation:hover,.scene-code-line.is-active{color:#fff}
.scene-code-mesh{font-style:italic;color:#788176}
.scene-explorer.is-xray .scene-explorer-stage{background:radial-gradient(circle at 56% 40%,#17211a 0,#0b100c 62%,#070907 100%)}
@keyframes fade-in{from{opacity:0}}
@keyframes pop-in{from{opacity:0;transform:translateY(6px) scale(.985)}}

/* Benchmarks */
.benchmark-section{--benchmark-card:var(--surface);--benchmark-panel:var(--bg-2);--benchmark-track:rgba(214,235,200,.07);--benchmark-bar:#6c7568;--benchmark-grid:rgba(214,235,200,.05)}
.benchmark-card{margin:30px 0 0;border:1px solid var(--line);border-radius:var(--radius);overflow:hidden;background:var(--benchmark-card);box-shadow:var(--shadow)}
.benchmark-card-head{display:flex;align-items:center;justify-content:space-between;gap:24px;padding:18px 22px;border-bottom:1px solid var(--line)}
.benchmark-card-head>span:first-child{display:flex;align-items:baseline;gap:14px;min-width:0}
.benchmark-card-head small,.benchmark-card-note{font:10.5px var(--mono);letter-spacing:.08em;text-transform:uppercase;color:var(--text-3)}
.benchmark-card-head strong{font:600 19px var(--display);letter-spacing:-.02em;color:var(--text)}
.benchmark-card-note{text-align:right}
.benchmark-metric-grid,.benchmark-scene-grid{display:grid;grid-template-columns:repeat(2,minmax(0,1fr));gap:1px;background:var(--line)}
.metric-board{min-width:0;padding:22px;background:var(--benchmark-panel)}
.metric-board>header{display:flex;align-items:flex-start;justify-content:space-between;gap:18px;margin-bottom:16px}
.metric-board>header span{display:grid;gap:5px}
.metric-board>header b{font:600 17px var(--display);letter-spacing:-.015em}
.metric-board>header small{font-size:12.5px;color:var(--text-3)}
.metric-board>header em{padding:3px 8px;border:1px solid var(--line-strong);border-radius:999px;font:10px var(--mono);font-style:normal;letter-spacing:.06em;text-transform:uppercase;white-space:nowrap;color:var(--text-2)}
.metric-board-lower>header em{padding:5px 9px;border-color:rgba(239,168,82,.55);background:rgba(239,168,82,.12);color:#e9ad68;font-weight:700;letter-spacing:.075em}
.score-list{margin:0;padding:0;list-style:none}
.score-list li{display:grid;grid-template-columns:26px minmax(0,1fr) auto;align-items:center;gap:6px 10px;padding:8px 0}
.score-rank{font:10.5px var(--mono);color:var(--text-3)}
.score-method{min-width:0;overflow:hidden;font-size:13px;color:var(--text-2);white-space:nowrap;text-overflow:ellipsis}
.score-method small{margin-left:6px;font:9.5px var(--mono);letter-spacing:.04em;color:var(--text-3)}
.score-list li:first-child .score-rank{color:var(--accent)}
.score-list li:first-child .score-method{font-weight:600;color:var(--text)}
.score-list li:first-child .score-method small{color:var(--accent)}
.score-value{font:12.5px var(--mono);font-variant-numeric:tabular-nums;color:var(--text)}
.score-track{position:relative;display:block;grid-column:2/4;height:6px;overflow:hidden;border-radius:999px;background-color:var(--benchmark-track);background-image:linear-gradient(90deg,var(--benchmark-grid) 1px,transparent 1px);background-size:25% 100%}
.score-fill{display:block;width:var(--score);height:100%;border-radius:inherit;background:var(--benchmark-bar);transform-origin:left center;transition:background-color .2s}
.score-fill-ours{background:linear-gradient(90deg,color-mix(in srgb,var(--accent) 70%,#fff0),var(--accent));box-shadow:0 0 16px color-mix(in srgb,var(--accent) 32%,transparent)}
.score-list li:hover .score-fill:not(.score-fill-ours){background:#8f998b}
.js .metric-board .score-fill{transform:scaleX(0)}
.js .metric-board.is-visible .score-fill{transform:scaleX(1);transition:transform 1.1s var(--ease-out) calc(var(--delay) * 90ms + 150ms),background-color .2s}
.metric-lower-axis{display:flex;justify-content:space-between;gap:12px;margin:-6px 0 4px 36px;font:9.5px var(--mono);letter-spacing:.06em;text-transform:uppercase;color:var(--text-3)}
.metric-lower-axis strong{font-weight:700;color:#e9ad68}
.metric-board-lower .score-fill{min-width:4px}
.benchmark-footnote{display:flex;justify-content:space-between;gap:24px;margin:0;padding:13px 22px;border-top:1px solid var(--line);font:10.5px/1.6 var(--mono);color:var(--text-3)}
.benchmark-scene{margin-top:22px}
.benchmark-scene .metric-board{padding-top:24px;padding-bottom:26px}
.benchmark-scene .score-list li{padding:11px 0}
.benchmark-scene .score-method{white-space:normal;overflow:visible;font-size:12.5px;line-height:1.45}
.benchmark-scene .score-method small{display:inline-block}
.benchmark-scene .benchmark-card-head>span:first-child{flex-wrap:wrap}
.benchmark-scene .score-track{height:8px}
.scene-metric-primary{position:relative;background:linear-gradient(145deg,color-mix(in srgb,var(--accent) 7%,var(--benchmark-panel)),var(--benchmark-panel) 58%);box-shadow:inset 0 2px var(--accent)}
.scene-metric-primary>header em{border-color:var(--accent-line);background:var(--accent-soft);color:var(--accent)}
.scene-metric-primary>header b{font-size:20px}
.scene-metric-primary .score-track{height:10px}

/* Footer */
.site-footer{display:flex;justify-content:space-between;align-items:center;gap:20px;width:90%;max-width:1320px;margin:0 auto;padding:28px 0 36px;border-top:1px solid var(--line);font-size:13px;color:var(--text-3)}
.site-footer div{display:flex;gap:24px}
.footer-brand{font:600 15px var(--display);color:var(--text-2);white-space:nowrap}

/* Lightbox */
.method-lightbox{max-width:none;max-height:none;padding:0;border:0;background:transparent;color:var(--text);overflow:visible}
.method-lightbox[open]{display:grid;place-items:center;animation:pop-in .3s var(--ease-out)}
.method-lightbox::backdrop{background:#040504d9;-webkit-backdrop-filter:blur(6px);backdrop-filter:blur(6px)}
.method-lightbox figure{position:relative;margin:0;padding:44px 14px 13px;border:1px solid var(--line-strong);border-radius:14px;background:var(--surface);box-shadow:0 30px 90px #000c}
.method-lightbox img{display:block;width:min(94vw,var(--lightbox-image-width,920px));max-height:82vh;object-fit:contain;border-radius:8px;background:#090b09}
.method-lightbox figcaption{max-width:min(86vw,920px);padding:11px 3px 0;font-size:13px;line-height:1.5;color:var(--text-2)}
.method-lightbox-close{position:absolute;top:9px;right:11px;padding:6px 11px;border:1px solid var(--line-strong);border-radius:999px;background:var(--surface-2);color:var(--text-2);font-size:12px}
.method-lightbox-close:hover{border-color:var(--accent);background:var(--accent);color:var(--accent-ink)}

/* Breakpoints */
@media(min-width:1600px){.hero{min-height:720px}}
@media(max-width:1100px){.article-grid{grid-template-columns:140px minmax(0,1fr);gap:36px}h1{font-size:5.1vw}.cover-summary{max-width:450px}.article-toc a span{font-size:12.5px}}
@media(max-width:1050px){.scene-explorer-stage{height:520px}.scene-explorer-code-panel{width:min(440px,calc(100% - 20px));max-height:350px}.scene-explorer-code-panel pre{max-height:185px;font-size:10.5px}}
@media(max-width:800px){
  :root{--nav-h:56px}
  .nav-inner{width:88%;gap:14px}
  .brand{font-size:18px;gap:9px}.brand-mark{width:30px;height:30px}
  .nav nav{gap:2px;font-size:12.5px}.nav nav a{padding:7px 9px}.nav nav a:nth-child(2),.nav nav a:nth-child(3){display:none}.studio-link{margin-left:0}
  .hero{min-height:0}.cover{width:88%;padding:44px 0 40px}
  #world{inset:0}#world.is-ready{opacity:.3}
  .veil{background:linear-gradient(90deg,color-mix(in srgb,var(--bg) 90%,transparent) 10%,color-mix(in srgb,var(--bg) 66%,transparent) 70%,color-mix(in srgb,var(--bg) 33%,transparent))}
  .cover>.eyebrow{margin-bottom:22px}
  h1{font-size:clamp(32px,8.4vw,52px);line-height:1.08}
  .cover-subtitle{font-size:17px}.cover-summary{max-width:440px;font-size:15px}
  .project-links{grid-template-columns:repeat(2,minmax(0,1fr));max-width:440px;gap:8px}
  .project-links .resource-card{min-height:62px;padding:11px 12px;gap:9px}
  .article-grid{width:88%;grid-template-columns:minmax(0,1fr);gap:28px;padding-top:28px}
  .article-toc nav{position:static;flex-direction:row;gap:6px;overflow-x:auto;padding:0 0 4px;border:0;scrollbar-width:none;white-space:nowrap}
  .article-toc nav::-webkit-scrollbar{display:none}
  .article-toc p{display:none}
  .article-toc a{flex:0 0 auto;gap:7px;padding:7px 12px;border:1px solid var(--line);border-radius:999px}
  .article-toc a:before{display:none}.article-toc a span{font-size:12.5px}
  .article-toc a.is-active{border-color:var(--accent-line);background:var(--accent-soft)}
  .section-heading{gap:13px;margin-bottom:22px}.section-number{width:30px;height:30px;font-size:11px;border-radius:8px}
  h2{font-size:26px}
  .article-body{--prose-size:16px;--prose-leading:1.72}
  p,.article-body>section>p.section-intro{font-size:16px;line-height:1.72}
  .article-section,.articulation-section{padding-bottom:48px}
  .article-section+.article-section,.articulation-section,.articulation-section+.article-section{padding-top:44px}
  .article-quote{margin:28px 0;padding:20px 20px 20px 24px;font-size:17.5px}
  .architecture-figure{margin:26px 0 28px}.architecture-figure-head{padding:12px 14px}.architecture-figure-head strong{display:none}
  .architecture-figure figcaption{display:block;padding:12px 14px;font-size:11px}.architecture-figure figcaption span{display:block}.architecture-figure figcaption span:last-child{margin-top:5px;text-align:left}
  .scene-video-bar{padding:12px 13px;font-size:9.5px;letter-spacing:.03em}.scene-video-card figcaption{gap:18px;padding:12px 13px;font-size:12px}
  .scene-inspector-intro,.sim2real-intro{margin-top:42px}
  .benchmark-card{margin-top:24px}.benchmark-card-head{flex-direction:column;align-items:flex-start;gap:9px;padding:15px 16px}.benchmark-card-head>span:first-child{display:grid;gap:6px}.benchmark-card-head strong{font-size:17px}.benchmark-card-note{font-size:9.5px;text-align:left}
  .benchmark-metric-grid,.benchmark-scene-grid{grid-template-columns:1fr}.metric-board{padding:18px 16px}
  .benchmark-footnote{display:block;padding:12px 16px}.benchmark-footnote span{display:block}.benchmark-footnote span+span{margin-top:4px}
  .site-footer{width:88%;align-items:flex-start;padding:24px 0 30px}.site-footer div{flex-wrap:wrap;justify-content:flex-end;gap:14px;font-size:12px}
}
@media(max-width:760px){.scene-explorer-bar{flex-direction:column;align-items:flex-start;padding:13px}.scene-explorer-bar button{align-self:stretch;justify-content:center}.scene-explorer-stage{height:420px}.scene-explorer-code-panel{width:calc(100% - 20px);max-height:295px}.scene-explorer-code-head h4{font-size:14px}.scene-explorer-code-panel pre{max-height:140px;font-size:10px}.scene-explorer-hint{left:10px;right:10px;bottom:10px;border-radius:8px;text-align:center;font-size:10px}.scene-code-line{padding-left:11px;padding-right:11px}}
@media(max-width:600px){.method-lightbox figure{padding:40px 9px 10px}.method-lightbox img{width:min(90vw,var(--lightbox-image-width,920px));max-height:72vh}.method-lightbox figcaption{max-width:90vw}}
@media(max-width:480px){.nav nav a[href="#research"],.nav nav .studio-link{display:none}}
@media(max-width:360px){.project-links{grid-template-columns:1fr}}
@media(prefers-reduced-motion:reduce){
  html{scroll-behavior:auto}
  #world{transition:none}
  .js .metric-board .score-fill{transform:none}.js .metric-board.is-visible .score-fill{transition:none}
  .js .scene-video:not([poster]),.scene-explorer-status,.architecture-pan-hint,.scene-explorer-status:before{animation:none}
  .scene-explorer-code-panel,.scene-explorer-stage canvas,.method-lightbox[open]{animation:none}
  .scene-method-links .scene-method-link-feedback{animation:none}
  .scene-method-photo-pair img,.scene-method-handoff-visual img,.scene-method-labeled-pair img,.scene-method-robot-scene{transition:none}
}
@media print{.js [data-reveal]{opacity:1;transform:none}.js .metric-board .score-fill{transform:none}.nav{position:static}}

/* Review palette: light article field under the dark cover. Media viewports stay dark. */
html.theme-light body{background:#f6f7f3}
/* A translucent dark bar over the light field turns muddy grey, so the nav stays solid here. */
html.theme-light .nav{background:var(--bg);-webkit-backdrop-filter:none;backdrop-filter:none}
html.theme-light .article-grid,html.theme-light .site-footer{--accent:#5f9a00;--accent-soft:rgba(95,154,0,.08);--accent-line:rgba(95,154,0,.4);--text:#141712;--text-2:#4c5348;--text-3:#6b7266;--line:#dde2d8;--line-strong:#c9d0c3;--surface:#fff;--surface-2:#f0f3ec;--bg-2:#f3f5f0;--shadow:0 24px 60px -36px rgba(23,32,15,.35);color:var(--text)}
html.theme-light .benchmark-section{--benchmark-track:#e1e6dc;--benchmark-bar:#8b957f;--benchmark-grid:#d0d7ca}
html.theme-light .metric-board-lower>header em{border-color:rgba(147,88,23,.45);background:rgba(193,119,37,.12);color:#86500c}
html.theme-light .metric-lower-axis strong{color:#86500c}
html.theme-light .score-list li:hover .score-fill:not(.score-fill-ours){background:#6a7560}
html.theme-light .score-fill-ours{box-shadow:none}
html.theme-light .scene-video-card,html.theme-light .scene-explorer,html.theme-light .object-workspace,html.theme-light .workflow-board{--accent:#b8f34a;--accent-soft:rgba(184,243,74,.085);--accent-line:rgba(184,243,74,.42);--text:#eef1ea;--text-2:#b3b9ad;--text-3:#7f877a;--line:rgba(214,235,200,.085);--line-strong:rgba(214,235,200,.16);--surface:#121612;--surface-2:#181d18;--bg-2:#0f120f;color:var(--text)}
html.theme-light .architecture-figure{background:#fff}

/* Review palette: deep ocean slate with an electric-cyan signal colour. */
html.theme-ocean{--bg:#0a131d;--bg-2:#0c1824;--surface:#0f1c28;--surface-2:#132432;--line:rgba(158,215,223,.1);--line-strong:rgba(158,215,223,.18);--text:#edf6f8;--text-2:#a9bbc3;--text-3:#7690a0;--accent:#59d8e6;--accent-soft:rgba(89,216,230,.09);--accent-line:rgba(89,216,230,.42);--accent-ink:#04161a;--hero-wire:#547d8d;--viewer-bg:#0b1722}
html.theme-ocean .hero-glow{background:radial-gradient(closest-side,rgba(89,216,230,.08),transparent 70%)}
html.theme-ocean .brand-mark{filter:hue-rotate(105deg) saturate(.9) brightness(1.08)}
html.theme-ocean .project-links .resource-card-github small{color:#0e4a52}
html.theme-ocean .project-links .resource-card-github:hover{box-shadow:0 12px 34px -12px rgba(89,216,230,.55)}
html.theme-ocean .object-reference,html.theme-ocean .object-reference-loading{background:#1d2a33}
html.theme-ocean .scene-method-diagram{--method-node:#112632;--method-border:#315563;--method-copy:#9db4bc;background:#09141e}
html.theme-ocean .scene-method-reconstruction,html.theme-ocean .scene-method-specialists{background:#0e1d28}
html.theme-ocean .scene-method-articulation{background:#0c2130}
html.theme-ocean .scene-explorer{--accent:#b8f34a;--accent-soft:rgba(184,243,74,.085);--accent-line:rgba(184,243,74,.42);--accent-ink:#0e1606}