:root {
  --bg: #ffffff;
  --bg-soft: #f5f6f8;
  --card: #ffffff;
  --ink: #16181d;
  --ink-2: #4a505c;
  --ink-3: #7b818d;
  --line: #e3e5ea;
  --accent: #2f6fdb;
  --accent-soft: #e8f0fd;
  --score: #2f6fdb;
  --human: #e0663a;
  --track: #8a8f99;
  --drv-safety: #d9534f;
  --drv-interest: #e8a33d;
  --drv-social: #3aa37a;
  --drv-info: #2f6fdb;
  --drv-habit: #8e63c7;
  --code-bg: #f3f4f7;
  --radius: 12px;
  --maxw: 1080px;
}
@media (prefers-color-scheme: dark) {
  :root:not([data-theme="light"]) {
    --bg: #111317; --bg-soft: #181b21; --card: #1a1d23; --ink: #eceef2; --ink-2: #b4b9c3; --ink-3: #868c97;
    --line: #2a2e36; --accent: #6b9cf0; --accent-soft: #1d2a40; --score: #6b9cf0; --human: #f08a5d; --track: #9aa0aa;
    --code-bg: #20242b;
  }
}
:root[data-theme="dark"] {
  --bg: #111317; --bg-soft: #181b21; --card: #1a1d23; --ink: #eceef2; --ink-2: #b4b9c3; --ink-3: #868c97;
  --line: #2a2e36; --accent: #6b9cf0; --accent-soft: #1d2a40; --score: #6b9cf0; --human: #f08a5d; --track: #9aa0aa;
  --code-bg: #20242b;
}

* { box-sizing: border-box; }
[hidden] { display: none !important; }
html { scroll-behavior: smooth; }
body {
  margin: 0; background: var(--bg); color: var(--ink);
  font: 16px/1.65 "Inter", system-ui, -apple-system, "Segoe UI", Roboto, sans-serif;
  -webkit-font-smoothing: antialiased;
}
a { color: var(--accent); text-decoration: none; }
a:hover { text-decoration: underline; }
img { max-width: 100%; display: block; }
code, pre, kbd { font-family: "JetBrains Mono", ui-monospace, SFMono-Regular, Consolas, monospace; font-size: 0.86em; }
pre { background: var(--code-bg); padding: 14px 16px; border-radius: 10px; overflow-x: auto; line-height: 1.5; margin: 0; }
code { background: var(--code-bg); padding: 1px 6px; border-radius: 5px; }
pre code { background: none; padding: 0; }

.wrap { max-width: var(--maxw); margin: 0 auto; padding: 0 20px; }
section { padding: 56px 0; border-top: 1px solid var(--line); }
section:first-of-type { border-top: 0; }
h1, h2, h3, h4 { line-height: 1.25; margin: 0 0 12px; letter-spacing: -0.01em; }
h2 { font-size: 1.75rem; }
h3 { font-size: 1.15rem; margin-top: 28px; }
p { margin: 0 0 14px; color: var(--ink-2); }
.lead { font-size: 1.06rem; }
.muted { color: var(--ink-3); font-size: 0.9rem; }
.eyebrow { font-size: 0.78rem; letter-spacing: 0.08em; text-transform: uppercase; color: var(--accent); font-weight: 600; margin-bottom: 6px; }

/* nav */
.topnav { position: sticky; top: 0; z-index: 20; background: color-mix(in srgb, var(--bg) 88%, transparent); backdrop-filter: blur(8px); border-bottom: 1px solid var(--line); }
.topnav .wrap { display: flex; align-items: center; gap: 18px; height: 52px; overflow-x: auto; white-space: nowrap; }
.topnav .wrap { scrollbar-width: none; }
.topnav .wrap::-webkit-scrollbar { display: none; }
.topnav .brand { font-weight: 700; color: var(--ink); }
.topnav a.nav { color: var(--ink-2); font-size: 0.92rem; }
.topnav .spacer { flex: 1; }
.theme-btn { background: none; border: 1px solid var(--line); color: var(--ink-2); border-radius: 8px; padding: 4px 10px; cursor: pointer; font: inherit; font-size: 0.85rem; }

/* hero */
.hero { text-align: center; padding: 56px 0 28px; }
.venue { display: inline-block; font-size: 0.85rem; font-weight: 600; color: var(--accent); background: var(--accent-soft); padding: 4px 12px; border-radius: 999px; margin-bottom: 18px; }
.hero h1 { font-size: clamp(1.7rem, 3.6vw, 2.6rem); max-width: 900px; margin: 0 auto 10px; }
.hero h1 .sub { display: block; font-weight: 500; color: var(--ink-2); font-size: 0.62em; margin-top: 10px; }
.authors { margin: 18px 0 4px; font-size: 1.05rem; }
.authors span { margin: 0 9px; white-space: nowrap; }
.affil { color: var(--ink-3); font-size: 0.92rem; }
.buttons { display: flex; flex-wrap: wrap; justify-content: center; gap: 10px; margin: 22px 0 6px; }
.btn { display: inline-flex; align-items: center; gap: 7px; padding: 9px 16px; border-radius: 999px; background: var(--ink); color: var(--bg); font-weight: 600; font-size: 0.92rem; border: 0; cursor: pointer; }
.btn:hover { text-decoration: none; opacity: 0.88; }
.btn.ghost { background: transparent; color: var(--ink); border: 1px solid var(--line); }
.btn.disabled { opacity: 0.45; pointer-events: none; }
.btn svg { width: 16px; height: 16px; }
.teaser { margin-top: 28px; }
.teaser img { border-radius: var(--radius); border: 1px solid var(--line); background: #fff; }
figcaption, .caption { font-size: 0.88rem; color: var(--ink-3); margin-top: 10px; line-height: 1.5; }
figure { margin: 0; }
.figure-card { background: #fff; border: 1px solid var(--line); border-radius: var(--radius); padding: 10px; }

/* grids */
.grid2 { display: grid; grid-template-columns: 1fr 1fr; gap: 28px; align-items: start; }
.grid3 { display: grid; grid-template-columns: repeat(3, 1fr); gap: 16px; }
.stats { display: grid; grid-template-columns: repeat(4, 1fr); gap: 12px; margin: 22px 0; }
.stat { background: var(--bg-soft); border-radius: var(--radius); padding: 16px; }
.stat b { display: block; font-size: 1.6rem; color: var(--ink); line-height: 1.1; }
.stat span { font-size: 0.85rem; color: var(--ink-3); }

/* drivers */
.drivers { display: grid; grid-template-columns: repeat(5, 1fr); gap: 12px; margin: 18px 0 8px; }
.driver { border: 1px solid var(--line); border-radius: var(--radius); padding: 14px; background: var(--card); border-top: 4px solid var(--c); }
.driver h4 { font-size: 0.98rem; margin: 0; text-align: center; }
.driver p { font-size: 0.85rem; margin: 0; line-height: 1.45; }

/* pipeline */
.stage { border: 1px solid var(--line); border-radius: var(--radius); padding: 18px; background: var(--card); }
.stage h4 { margin-bottom: 6px; }
.stage ul { margin: 0; padding-left: 18px; color: var(--ink-2); font-size: 0.93rem; }
.stage li { margin: 4px 0; }
.pill { display: inline-block; font-size: 0.75rem; font-weight: 600; padding: 2px 8px; border-radius: 999px; background: var(--accent-soft); color: var(--accent); margin-left: 6px; vertical-align: middle; }

/* replay */
.replay { display: grid; grid-template-columns: minmax(0, 1fr) 320px; gap: 18px; margin-top: 18px; }
.viewer { background: var(--bg-soft); border: 1px solid var(--line); border-radius: var(--radius); overflow: hidden; position: relative; }
.viewer-tabs { display: flex; gap: 4px; padding: 8px; border-bottom: 1px solid var(--line); background: var(--card); flex-wrap: wrap; align-items: center; }
.tab { border: 0; background: transparent; color: var(--ink-2); padding: 6px 12px; border-radius: 8px; cursor: pointer; font: inherit; font-size: 0.88rem; }
.tab.on { background: var(--accent-soft); color: var(--accent); font-weight: 600; }
.viewer canvas { display: block; width: 100%; }
#unity-wrap { position: relative; aspect-ratio: 16 / 9; background: #0f1115; }
#unity-canvas { width: 100%; height: 100%; display: block; }
.unity-overlay { position: absolute; inset: 0; display: flex; flex-direction: column; align-items: center; justify-content: center; gap: 12px; color: #dfe3ea; text-align: center; padding: 20px; background: radial-gradient(ellipse at center, rgba(30, 36, 48, 0.6), rgba(10, 12, 16, 0.92)); }
.unity-overlay p { color: #b9c0cc; font-size: 0.9rem; max-width: 460px; }
.progress { width: 260px; height: 6px; background: rgba(255, 255, 255, 0.15); border-radius: 3px; overflow: hidden; }
.progress i { display: block; height: 100%; width: 0; background: var(--accent); transition: width 0.2s; }
#topdown { aspect-ratio: 16 / 9; }
.transport { display: flex; align-items: center; gap: 10px; padding: 10px 12px; border-top: 1px solid var(--line); background: var(--card); }
.transport input[type="range"] { flex: 1; accent-color: var(--accent); }
.icon-btn { width: 34px; height: 34px; border-radius: 50%; border: 1px solid var(--line); background: var(--card); color: var(--ink); cursor: pointer; display: grid; place-items: center; flex: none; }
.icon-btn svg { width: 15px; height: 15px; }
.chart { padding: 10px 12px 12px; border-top: 1px solid var(--line); background: var(--card); }
.chart canvas { height: 140px; }

.panel { display: flex; flex-direction: column; gap: 14px; }
.panel .box { border: 1px solid var(--line); border-radius: var(--radius); padding: 14px; background: var(--card); }
.panel label.h { display: block; font-size: 0.78rem; font-weight: 600; letter-spacing: 0.05em; text-transform: uppercase; color: var(--ink-3); margin-bottom: 8px; }
.seg { display: flex; flex-wrap: wrap; gap: 6px; }
.seg button { border: 1px solid var(--line); background: var(--card); color: var(--ink-2); padding: 5px 10px; border-radius: 8px; cursor: pointer; font: inherit; font-size: 0.85rem; }
.seg button:hover { border-color: var(--ink-3); color: var(--ink); }
.scene-pick { display: flex; align-items: center; gap: 12px; flex-wrap: wrap; margin: 6px 0 14px; }
.scene-pick .label { font-size: 0.78rem; font-weight: 600; letter-spacing: 0.05em; text-transform: uppercase; color: var(--ink-3); }
.seg-lg { gap: 8px; }
.seg.seg-lg button { padding: 8px 18px; font-size: 0.95rem; font-weight: 500; border-radius: 999px; box-shadow: 0 1px 2px rgba(0, 0, 0, 0.06); }
.seg.seg-lg button.on { background: var(--accent); border-color: var(--accent); color: #fff; }
.seg button.on { border-color: var(--accent); color: var(--accent); background: var(--accent-soft); font-weight: 600; }
.method-row { display: flex; align-items: center; gap: 8px; margin: 6px 0; font-size: 0.9rem; }
.method-row .dot { width: 11px; height: 11px; border-radius: 50%; background: var(--c); flex: none; }
.method-row select { margin-left: auto; font: inherit; font-size: 0.82rem; padding: 3px 6px; border-radius: 6px; border: 1px solid var(--line); background: var(--card); color: var(--ink); }
.goal { font-size: 0.9rem; color: var(--ink-2); }
.dtw-mini { width: 100%; border-collapse: collapse; font-size: 0.86rem; }
.dtw-mini td { padding: 3px 0; }
.dtw-mini td:last-child { text-align: right; font-variant-numeric: tabular-nums; }

/* reasoning timeline */
.trace { display: flex; flex-direction: column; gap: 10px; max-height: 520px; overflow-y: auto; padding-right: 4px; }
.step { border: 1px solid var(--line); border-radius: 10px; padding: 10px 12px; background: var(--card); }
.step .act { font-weight: 600; font-size: 0.92rem; color: var(--ink); }
.step .act .n { color: var(--ink-3); font-weight: 500; margin-right: 6px; font-variant-numeric: tabular-nums; }
.step p { font-size: 0.86rem; margin: 6px 0 0; line-height: 1.5; }
.step .res { margin-top: 8px; font-size: 0.84rem; padding: 6px 9px; border-radius: 8px; background: var(--accent-soft); color: var(--ink-2); }
.step .res b { color: var(--accent); }
.step.override { border-color: var(--accent); }

.examples { display: grid; grid-template-columns: 260px minmax(0, 1fr); gap: 18px; margin-top: 18px; }
.ex-list { display: flex; flex-direction: column; gap: 6px; }
.ex-list button { text-align: left; border: 1px solid var(--line); background: var(--card); color: var(--ink-2); padding: 9px 12px; border-radius: 10px; cursor: pointer; font: inherit; font-size: 0.88rem; }
.ex-list button.on { border-color: var(--accent); background: var(--accent-soft); color: var(--ink); }
.ex-list .grp { font-size: 0.75rem; font-weight: 600; letter-spacing: 0.06em; text-transform: uppercase; color: var(--ink-3); margin: 10px 2px 2px; }

/* tables */
.table-wrap { overflow-x: auto; border: 1px solid var(--line); border-radius: var(--radius); }
table.res { width: 100%; border-collapse: collapse; font-size: 0.9rem; font-variant-numeric: tabular-nums; }
table.res th, table.res td { padding: 8px 12px; text-align: center; border-bottom: 1px solid var(--line); white-space: nowrap; }
table.res th { background: var(--bg-soft); font-weight: 600; color: var(--ink-2); font-size: 0.82rem; }
table.res td:first-child, table.res th:first-child, table.res td.l { text-align: left; }
table.res tr:last-child td { border-bottom: 0; }
table.res .best { font-weight: 700; color: var(--accent); }
table.res .ci { color: var(--ink-3); font-size: 0.78em; margin-left: 3px; }
table.res .ih { color: var(--ink-3); font-style: normal; }
.bar { display: inline-block; height: 7px; border-radius: 4px; background: var(--c, var(--accent)); vertical-align: middle; margin-right: 6px; opacity: 0.85; }
details { border: 1px solid var(--line); border-radius: var(--radius); padding: 12px 16px; margin-top: 14px; background: var(--card); }
details summary { cursor: pointer; font-weight: 600; }

/* ollama demo */
.demo { display: grid; grid-template-columns: 1fr 1fr; gap: 18px; margin-top: 18px; }
.demo .box { border: 1px solid var(--line); border-radius: var(--radius); padding: 16px; background: var(--card); }
.demo textarea, .demo input[type="text"], .demo select { width: 100%; font: inherit; font-size: 0.86rem; padding: 8px 10px; border-radius: 8px; border: 1px solid var(--line); background: var(--bg); color: var(--ink); }
.demo textarea { min-height: 76px; resize: vertical; font-family: "JetBrains Mono", ui-monospace, monospace; font-size: 0.8rem; }
.demo .field { margin-bottom: 12px; }
.demo .field > span { display: block; font-size: 0.8rem; font-weight: 600; color: var(--ink-3); margin-bottom: 5px; }
.fov-pick { display: grid; grid-template-columns: repeat(5, 1fr); gap: 6px; }
.fov-pick img { border-radius: 6px; cursor: pointer; border: 2px solid transparent; aspect-ratio: 16/9; object-fit: cover; width: 100%; }
.fov-pick img.on { border-color: var(--accent); }
.status { font-size: 0.85rem; padding: 8px 10px; border-radius: 8px; background: var(--bg-soft); color: var(--ink-2); margin-top: 10px; }
.status.ok { background: color-mix(in srgb, #3aa37a 15%, transparent); }
.status.err { background: color-mix(in srgb, #d9534f 15%, transparent); }
.out-block { margin-top: 12px; }
.out-block h5 { margin: 0 0 4px; font-size: 0.78rem; text-transform: uppercase; letter-spacing: 0.05em; color: var(--ink-3); }
.out-block .val { font-size: 0.88rem; color: var(--ink-2); white-space: pre-wrap; }
.scores { display: flex; flex-direction: column; gap: 5px; }
.scores div { display: grid; grid-template-columns: 130px 1fr 22px; align-items: center; gap: 8px; font-size: 0.82rem; }
.scores i { display: block; height: 8px; border-radius: 4px; background: var(--c); }
.action-chip { display: inline-block; font-weight: 700; color: var(--accent); background: var(--accent-soft); padding: 4px 10px; border-radius: 8px; }

.bib pre { font-size: 0.8rem; }
footer { padding: 36px 0 60px; border-top: 1px solid var(--line); color: var(--ink-3); font-size: 0.85rem; }

@media (max-width: 900px) {
  .replay, .examples, .demo, .grid2 { grid-template-columns: 1fr; }
  .drivers { grid-template-columns: repeat(2, 1fr); }
  .stats { grid-template-columns: repeat(2, 1fr); }
  .grid3 { grid-template-columns: 1fr; }
  .fov-pick { grid-template-columns: repeat(3, 1fr); }
}
@media (max-width: 520px) {
  .wrap { padding: 0 16px; }
  section { padding: 40px 0; }
  .drivers { grid-template-columns: 1fr; }
}