body { font-family: "Google Sans", "Noto Sans", sans-serif; color: #363636; }
.hero-body { padding: 3.5rem 1.5rem 2.5rem; }
.publication-title { color: #775295; max-width: 1100px; margin: 0 auto 1.5rem !important; line-height: 1.2; }
.publication-authors { max-width: 1060px; margin: 0 auto; line-height: 1.9; }
.author-block { margin-right: .15em; }
.author-block sup { font-size: .7em; }
.button-container { margin-top: 1.5rem; gap: .3rem; }
.button[disabled] { opacity: .65; }
.resource-note { margin-top: .75rem; color: #828282; font-size: .85rem; }
.content-wrapper { width: 60%; max-width: 1100px; margin: 0 auto; text-align: center; }
.paper-section { padding-top: 3.5rem; }
.paper-section .title { color: #000; margin-bottom: 1.25rem; }
.pending-copy { color: #828282; }
.media-placeholder { min-height: 230px; display: flex; align-items: center; justify-content: center; border: 1px dashed #d7cedf; border-radius: 8px; background: #faf8fc; color: #8a7c96; padding: 2rem; }
.overview-placeholder { min-height: 310px; }
.results-section { max-width: 1100px; width: 80%; margin: 0 auto; text-align: center; }
.demo-container { display: grid; grid-template-columns: 1fr 1fr; gap: 2rem; }
.demo-card { padding: 1.5rem; border: 1px solid #ddd; border-radius: 12px; box-shadow: 0 4px 12px rgba(0,0,0,.06); }
footer { text-align: center; padding: 4rem 1.5rem 2rem; color: #828282; font-size: .85rem; }
footer a { color: #775295; }
@media (max-width: 768px) { .hero-body { padding: 2.5rem 1.2rem 2rem; } .publication-title { font-size: 2rem !important; } .publication-authors { font-size: 1.05rem !important; } .content-wrapper, .results-section { width: calc(100% - 2.5rem); } .demo-container { grid-template-columns: 1fr; gap: 1rem; } .media-placeholder { min-height: 180px; } .overview-placeholder { min-height: 220px; } }

.author-affiliations { display: flex; flex-wrap: wrap; justify-content: center; gap: .35rem 1.2rem; max-width: 1000px; margin: 1rem auto 0; font-size: 1.05rem; line-height: 1.7; }
.author-affiliations span { display: inline-block; }
.contribution-note { margin-top: .65rem; color: #000000; font-size: .95rem; }
.project-page-button { width: auto; padding-left: 1rem; padding-right: 1rem; }
.button-container { flex-wrap: wrap; }

.author-affiliations { flex-direction: column; gap: .35rem; }
.affiliation-row { display: flex; flex-wrap: wrap; justify-content: center; gap: .35rem 1.2rem; }
.author-affiliations .contribution-note { margin-top: 0; color: #000; font-size: inherit; }

.institution-logos { display: flex; justify-content: center; align-items: center; gap: 28px; max-width: 1080px; margin: 1.4rem auto .7rem; }
.institution-logo { display: flex; align-items: center; justify-content: center; height: 82px; min-width: 0; }
.institution-logo img { display: block; width: 100%; max-height: 64px; object-fit: contain; }
.logo-robotera { flex: 0 1 210px; overflow: hidden; }
.logo-robotera img { width: 260px; max-width: none; max-height: none; flex-shrink: 0; }
.logo-tsinghua { flex: 0 1 185px; }
.logo-hkust { flex: 0 0 45px; }
.logo-berkeley { flex: 0 1 210px; }
.logo-sjtu { flex: 0 1 225px; }
@media (max-width: 768px) { .institution-logos { gap: 12px; } .institution-logo { height: 60px; } .institution-logo img { max-height: 44px; } .logo-robotera img { width: 140%; max-height: none; } .logo-hkust { flex-basis: 28px; } }

/* HKUST (GZ) logo supplied by the user. */
.logo-hkust { flex: 0 1 220px; }
.logo-hkust img { filter: none; }
@media (max-width: 768px) { .logo-hkust { flex: 0 1 220px; } }

.instruction-comparison { max-width: 1440px; width: calc(100% - 48px); margin: 0 auto; text-align: center; }
.comparison-intro { color: #606770; margin: 0 auto 1.25rem; max-width: 850px; line-height: 1.65; }
.comparison-toolbar { display: flex; justify-content: center; gap: 10px; margin-bottom: 1.5rem; }
.comparison-toolbar button { border: 1px solid #ded5e6; background: #faf8fc; border-radius: 6px; padding: 7px 16px; color: #775295; font: inherit; cursor: pointer; }
.comparison-toolbar button:hover { background: #f0eaf5; }
.comparison-scroll { overflow-x: auto; margin-bottom: 2.5rem; }
.instruction-grid { display: grid; grid-template-columns: minmax(170px, .8fr) minmax(145px, .7fr) minmax(200px, 1fr) minmax(200px, 1fr) minmax(260px, 1.3fr); gap: 16px 18px; align-items: center; min-width: 1060px; padding: 12px 0 18px; }
.comparison-heading { font-weight: 600; font-size: 1.1rem; }
.vpp2-heading { color: #775295; }
.shared-initial { grid-column: 1; grid-row: 2 / span var(--rows); margin: 0; align-self: center; }
.shared-initial img { width: 100%; height: auto; display: block; border-radius: 8px; }
.shared-initial figcaption { color: #828282; font-size: .85rem; margin-top: .6rem; }
.comparison-instruction { text-align: left; line-height: 1.6; font-size: 1rem; padding: .5rem; }
.prediction-cell { min-width: 0; }
.comparison-video { display: block; width: 100%; height: auto; border-radius: 7px; background: #f5f5f5; }
.vpp2-cell { border: 1px solid #e3d9ea; border-radius: 8px; overflow: hidden; }
@media (max-width: 768px) { .instruction-comparison { width: calc(100% - 24px); } .instruction-grid { min-width: 1000px; gap: 12px; } }

/* Compact comparison: equal-sized media in the first group. */
.instruction-comparison { max-width: 1040px; }
.instruction-grid { grid-template-columns: 192px 180px 160px 160px 208px; gap: 12px; min-width: 948px; justify-content: start; }
.equal-size-grid { grid-template-columns: 192px 180px repeat(3, 192px); min-width: 996px; }
.equal-size-grid .comparison-video, .equal-size-grid .shared-initial img { width: 192px; height: auto; aspect-ratio: 416 / 240; }
.vpp2-cell { border: 0; }
.comparison-instruction { font-size: .9rem; line-height: 1.5; }
@media (max-width: 768px) { .instruction-grid { min-width: 948px; gap: 12px; } .equal-size-grid { min-width: 996px; } }

/* Branching flow: shared image → language instruction → predictions. */
.instruction-comparison { max-width: 1100px; }
.instruction-grid { grid-template-columns: 192px 36px 180px 160px 160px 208px; min-width: 996px; }
.equal-size-grid { grid-template-columns: 192px 36px 180px repeat(3, 192px); min-width: 1044px; }
.instruction-branches { grid-column: 2; grid-row: 2 / span var(--rows); align-self: stretch; display: flex; align-items: stretch; }
.instruction-branches svg { display: block; width: 100%; height: 100%; min-height: 100%; overflow: visible; }
.comparison-instruction { position: relative; padding-right: 20px; }
.comparison-instruction::after { content: "→"; position: absolute; right: -7px; top: 50%; transform: translateY(-50%); font-size: 25px; line-height: 1; font-weight: 400; color: #000000; }
@media (max-width: 768px) { .instruction-grid { min-width: 996px; } .equal-size-grid { min-width: 1044px; } }

.instruction-keyword { color: #b45309; font-weight: 700; }

/* Keep model columns aligned between groups; narrower videos leave clear space. */
.instruction-grid, .equal-size-grid { grid-template-columns: 192px 36px 180px repeat(3, 192px); min-width: 1044px; }
.prediction-cell { justify-self: stretch; text-align: left; }
.wan-cell .comparison-video, .cosmos-cell .comparison-video { width: 160px; margin-left: 0; margin-right: auto; }
.equal-size-grid .wan-cell .comparison-video, .equal-size-grid .cosmos-cell .comparison-video { width: 192px; }
.comparison-heading { text-align: left; }
@media (max-width: 768px) { .instruction-grid, .equal-size-grid { min-width: 1044px; } }

.open-environment { max-width: 1100px; width: calc(100% - 48px); margin: 0 auto; text-align: center; }
.open-environment-heading { font-weight: 600; font-size: 1.2rem; color: #363636; margin: 1.75rem 0 1rem; text-align: left; }
.open-environment-scroll { overflow-x: auto; }
.open-environment-grid { display: grid; grid-template-columns: repeat(5, minmax(0, 1fr)); gap: 18px 16px; min-width: 920px; }
.open-environment-example { margin: 0; min-width: 0; text-align: left; }
.open-environment-video { width: 100%; height: auto; aspect-ratio: 416 / 240; display: block; border-radius: 7px; background: #f5f5f5; }
.open-environment-instruction { min-height: 1.5rem; margin-top: .6rem; font-size: .9rem; line-height: 1.5; }
@media (max-width: 768px) { .open-environment { width: calc(100% - 24px); } }

/* Compact module headings with playback controls alongside the title. */
.module-header { display: flex; align-items: center; justify-content: space-between; gap: 20px; margin-bottom: 1rem; text-align: left; }
.paper-section .module-header .title { margin: 0; }
.module-header .comparison-toolbar { margin: 0; flex-shrink: 0; }
.module-header .comparison-toolbar button { padding: 6px 12px; font-size: .85rem; white-space: nowrap; }
@media (max-width: 768px) { .module-header { gap: 12px; flex-wrap: wrap; } .paper-section .module-header .title { font-size: 1.65rem; } }

.open-environment > .comparison-intro { text-align: left; max-width: none; margin-left: 0; margin-right: 0; }

.subgroup-header { margin-top: 1.75rem; margin-bottom: 1rem; }
.subgroup-header .open-environment-heading { margin: 0; }

.instruction-comparison > .comparison-intro { text-align: left; max-width: none; margin-left: 0; margin-right: 0; }

/* Browser-style performance tabs, shared beneath the overview. */
.performance-tabs { position: sticky; top: 0; z-index: 20; display: flex; align-items: flex-end; gap: 6px; max-width: 1100px; width: calc(100% - 48px); margin: 2.25rem auto 0; padding: 8px 8px 0; border: 1px solid #ddd; border-bottom-color: #c8c8c8; border-radius: 10px 10px 0 0; background: #f2f2f2; }
.performance-tab { position: relative; border: 1px solid transparent; border-radius: 8px 8px 0 0; padding: 13px 24px; background: transparent; color: #626262; font: inherit; font-size: 1rem; font-weight: 600; cursor: pointer; }
.performance-tab:hover { background: #e8e8e8; }
.performance-tab[aria-selected="true"] { margin-bottom: -1px; padding-bottom: 14px; background: #fff; color: #262626; border-color: #c8c8c8; border-bottom-color: #fff; }
.performance-tab:focus-visible { outline: 2px solid #775295; outline-offset: -4px; }
.performance-panel[hidden] { display: none; }
.performance-panel { scroll-margin-top: 80px; }
.performance-panel > .paper-section:first-child { padding-top: 2rem; }
.policy-performance-content { max-width: 1100px; width: calc(100% - 48px); margin: 0 auto; min-height: 400px; text-align: left; }
#open-environment, #instruction-comparison { scroll-margin-top: 80px; }
@media (max-width: 768px) { .performance-tabs, .policy-performance-content { width: calc(100% - 24px); } .performance-tabs { gap: 3px; padding: 6px 5px 0; } .performance-tab { flex: 1; padding: 11px 10px; font-size: .85rem; } .performance-tab[aria-selected="true"] { padding-bottom: 12px; } }

.overview-section { width: calc(100% - 48px); max-width: 1100px; }
.overview-image { display: block; width: 100%; height: auto; margin: 0 auto; }
.overview-description { margin-top: 1.25rem; text-align: justify; font-size: 1rem; line-height: 1.8; color: #363636; }
@media (max-width: 768px) { .overview-section { width: calc(100% - 24px); } .overview-description { text-align: left; } }

.overview-section { width: 80%; max-width: none; }
.overview-image { width: 100%; }
.overview-description { max-width: 1100px; margin-left: auto; margin-right: auto; }

/* Overview: stacked figures at left, introduction at right. */
.overview-section { display: grid; grid-template-columns: minmax(0, 1.4fr) minmax(0, 1fr); align-items: start; gap: 36px; width: 80%; }
.overview-figures { display: flex; flex-direction: column; gap: 20px; min-width: 0; }
.overview-figures .overview-image { width: 100%; height: auto; }
.overview-section .overview-description { margin: 0; text-align: left; line-height: 1.8; }
@media (max-width: 900px) { .overview-section { grid-template-columns: 1fr; width: calc(100% - 32px); gap: 24px; } }

.overview-figures { gap: 0; width: 80%; margin: 0 auto; }
.overview-figures .overview-image { width: 100%; margin: 0; }

/* Match the overview to the performance tabs and module containers. */
.overview-section { width: calc(100% - 48px); max-width: 1100px; }
@media (max-width: 768px) { .overview-section { width: calc(100% - 24px); } }

/* Wider shared layout, left-aligned overview figures and readable pipeline steps. */
.overview-section, .performance-tabs, .open-environment, .instruction-comparison, .policy-performance-content { max-width: 1200px; }
.overview-section { grid-template-columns: minmax(0, 1fr) minmax(0, 1fr); gap: 32px; }
.overview-figures { margin: 0; align-self: start; }
.overview-description p { margin: 0 0 1rem; text-align: left; }
.overview-description p:last-child { margin-bottom: 0; }
.overview-description .pipeline-label { margin-bottom: .65rem; font-weight: 600; }
.button-container[aria-label="Paper resources"] .button { border: 1px solid #bdbdbd; background: #fff; border-radius: 7px; min-height: 40px; }
.button-container[aria-label="Paper resources"] a.button:hover { border-color: #775295; background: #faf8fc; }
.button-container[aria-label="Paper resources"] .button:focus-visible { outline: 2px solid #775295; outline-offset: 3px; }
@media (max-width: 900px) { .overview-section { grid-template-columns: 1fr; gap: 24px; } }

/* Balance the overview columns: centered figures and a wider, compact introduction. */
.overview-section { grid-template-columns: minmax(0, 1fr) minmax(0, 1.15fr); align-items: stretch; gap: 28px; }
.overview-figures { width: 100%; margin: 0 auto; }
.overview-section .overview-description { font-size: .95rem; line-height: 1.65; display: flex; flex-direction: column; justify-content: space-between; }
.overview-description p { margin-bottom: .65rem; }
.overview-description .pipeline-label { margin-bottom: .4rem; }
@media (max-width: 900px) { .overview-section { grid-template-columns: 1fr; } .overview-figures { width: 90%; } .overview-section .overview-description { display: block; font-size: 1rem; line-height: 1.8; } .overview-description p { margin-bottom: 1rem; } }

/* Keep the introduction naturally spaced without stretching to figure height. */
.overview-section { align-items: start; }
.overview-section .overview-description { display: block; }
.overview-description p, .overview-description .pipeline-label { margin: 0; }

/* Overview sits slightly narrower than the performance modules below. */
.overview-section { width: calc(100% - 96px); max-width: 1080px; }
@media (max-width: 768px) { .overview-section { width: calc(100% - 40px); } }

.publication-authors .author-block { color: #775295; font-weight: 400; }

/* Reduce the tab bar and both performance pages to 90% of their previous width. */
.performance-tabs, .open-environment, .instruction-comparison, .policy-performance-content { width: calc(90% - 43.2px); max-width: 1080px; }
@media (max-width: 768px) { .performance-tabs, .open-environment, .instruction-comparison, .policy-performance-content { width: calc(90% - 21.6px); } }

/* Four stacked comparisons per row, with shared labels on the left. */
.distillation-grid { display: grid; gap: 24px; }
.distillation-row { display: grid; grid-template-columns: 115px repeat(4, minmax(0, 1fr)); column-gap: 12px; row-gap: 0; align-items: stretch; }
.distillation-row-labels { display: grid; grid-template-rows: repeat(2, minmax(0, 1fr)); padding-right: 10px; font-size: .8rem; line-height: 1.35; }
.distillation-row-labels span { display: flex; align-items: center; }
.distillation-row-labels .after-label { color: #008b78; font-weight: 600; }
.distillation-example { display: grid; grid-template-columns: minmax(0, 1fr); grid-template-rows: auto auto; gap: 0; min-width: 0; }
.distillation-result { position: relative; min-width: 0; margin: 0; padding: 0; }
.distillation-video { display: block; width: 100%; height: auto; aspect-ratio: 416 / 240; margin: 0; padding: 0; border: 0; border-radius: 0; box-shadow: none; background: #f5f5f5; }
.after-distillation::after { content: ""; position: absolute; inset: 0; border: 3px solid #20bfa9; pointer-events: none; }
@media (max-width: 768px) { .distillation-grid { overflow-x: auto; } .distillation-row { min-width: 820px; grid-template-columns: 100px repeat(4, minmax(0, 1fr)); } }

.policy-results-figure { display: block; width: 100%; height: auto; margin: 0; }
#zero-shot-aloha { min-height: 0; padding-bottom: 3rem; }

/* Tighten spacing between the two instruction-following examples. */
.instruction-comparison .comparison-scroll { margin-bottom: .75rem; }
.instruction-comparison .instruction-grid { padding-top: 6px; padding-bottom: 6px; }

.overview-description .pipeline-label { font-weight: 400; }

/* Paper citation remains visible beneath either results tab. */
.citation-section { padding-bottom: 3rem; text-align: left; }
.citation-section p { margin-bottom: 1rem; }
.citation-section pre { white-space: pre-wrap; overflow-wrap: anywhere; border-radius: 8px; line-height: 1.5; }