.site-header{height:78px;min-height:78px}
.site-header .nav-shell{width:min(var(--shell),calc(100% - 96px));gap:28px}
.brand-name{flex:none;color:var(--accent);font-size:25px;font-weight:700;letter-spacing:-.9px;line-height:1.2;white-space:nowrap}
.site-header .nav-shell .section-nav{display:flex;align-items:center;gap:5px;margin:0 0 0 auto;flex:none}
.site-header .nav-shell .section-nav a{position:relative;display:block;padding:11px 13px;border-radius:5px;color:#c2ccbb;font-size:14px;font-weight:500;line-height:1.3;white-space:nowrap;transition:color .18s,background .18s}
.site-header .nav-shell .section-nav a:hover{color:#eaf4df;background:#253020}
.site-header .nav-shell .section-nav a.is-active{color:var(--accent);background:#263320}
.site-header .nav-shell .section-nav a.is-active::after{content:"";position:absolute;left:13px;right:13px;bottom:3px;height:2px;border-radius:1px;background:var(--accent)}
.hero{padding-top:65px}
.paper-heading{width:100%;text-align:center}
.hero h1{max-width:1280px;margin:0 auto;font-size:clamp(27px,2.65vw,40px);font-weight:500;line-height:1.36;letter-spacing:-1.1px;color:var(--ink)}
.hero h1 .paper-title-line{display:block;color:var(--ink)}
.hero h1 .paper-name{color:var(--accent);font-weight:650}
.hero .hero-insight{margin:24px auto 0;padding:0;border:0;max-width:1180px;text-align:center;font-size:21px;font-weight:400;line-height:1.6;letter-spacing:-.2px;color:#c3ccbc}
.hero .hero-insight strong{font-weight:550;color:var(--accent)}
.hero .teaser-frame{margin-top:40px}
@media(max-width:1100px){.site-header .nav-shell{gap:20px}.site-header .nav-shell .section-nav{gap:2px}.site-header .nav-shell .section-nav a{font-size:13px;padding:10px}.hero{padding-top:52px}}
@media(max-width:900px){.site-header .nav-shell{width:calc(100% - 64px)}.brand-name{font-size:24px}.hero h1{font-size:clamp(24px,2.9vw,27px);letter-spacing:-.65px}.hero .hero-insight{font-size:18px;margin-top:21px}}
@media(max-width:1100px){:root{scroll-padding-top:150px}.site-header{height:auto;min-height:78px}.site-header .nav-shell{padding-block:14px;flex-wrap:wrap;row-gap:11px}.site-header .nav-shell .section-nav{flex-basis:100%;margin:0;justify-content:space-between;gap:3px;flex-wrap:wrap}.site-header .nav-shell .section-nav a{font-size:13px;padding:9px 10px}.hero{padding-top:40px}}
@media(max-width:640px){:root{scroll-padding-top:165px}.site-header .nav-shell{width:calc(100% - 36px);padding-block:13px;row-gap:10px}.brand-name{font-size:23px}.site-header .nav-shell .section-nav{justify-content:flex-start;gap:4px 5px}.site-header .nav-shell .section-nav a{font-size:12px;padding:8px}.site-header .nav-shell .section-nav a.is-active::after{left:8px;right:8px;bottom:2px}.hero{padding-top:34px}.paper-heading{text-align:left}.hero h1{font-size:27px;line-height:1.37;letter-spacing:-.65px}.hero h1 .paper-title-line{display:inline}.hero h1 .paper-title-line+.paper-title-line::before{content:" "}.hero .hero-insight{text-align:left;font-size:17px;line-height:1.65;margin-top:20px}.hero .teaser-frame{margin-top:28px}}
@media(prefers-reduced-motion:reduce){:root{scroll-behavior:auto}.site-header .nav-shell .section-nav a{transition:none}}

.paper-authors {
  display: flex;
  flex-direction: column;
  gap: 8px;
  max-width: 1060px;
  margin: 25px auto 0;
  padding: 0;
  font-size: 18px;
  line-height: 1.65;
  color: var(--muted-light);
}
.paper-author-row {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 8px 22px;
  margin: 0;
  padding: 0;
  list-style: none;
}
.paper-author-row li { white-space: nowrap; }
.paper-authors sup,
.paper-affiliations sup {
  font-size: 70%;
  line-height: 0;
  vertical-align: super;
  color: var(--accent);
}
.paper-authors sup { margin-left: 2px; }
.paper-affiliations {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 6px 22px;
  max-width: 1060px;
  margin: 18px auto 0;
  padding: 0;
  list-style: none;
  color: var(--muted-light);
  font-size: 14px;
  line-height: 1.7;
}
.paper-advising {
  color: var(--muted);
  white-space: nowrap;
}
.paper-resources { display:flex; justify-content:center; flex-wrap:wrap; gap:10px; margin-top:22px; }
.paper-resources a { display:inline-flex; align-items:center; gap:9px; min-height:42px; padding:10px 15px; border:1px solid #454b42; border-radius:6px; background:#000; color:var(--ink); font-size:14px; line-height:1.4; }
.paper-resources a:hover { border-color:var(--accent); color:var(--accent); }
.paper-resources a:focus-visible { outline:2px solid var(--accent); outline-offset:4px; }
.paper-resources svg { width:18px; height:18px; fill:none; stroke:var(--accent); stroke-width:1.5; stroke-linecap:round; stroke-linejoin:round; }
.paper-resources a > span { color:var(--muted-light); font-size:12px; }
@media(max-width:640px) { .paper-resources { justify-content:flex-start; gap:8px; } .paper-resources a { padding-inline:12px; } }
.paper-authors a:hover,
.paper-authors a:focus-visible {
  color: var(--accent);
  text-decoration: underline;
  text-underline-offset: 4px;
}
.abstract-section { padding-bottom: 0; }
.abstract-text {
  max-width: none;
  margin: 0;
  text-align: justify;
  color: var(--muted-light);
  font-size: 18px;
  line-height: 1.85;
}
.citation-code {
  margin: 0;
  padding: 28px 30px;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: var(--panel);
  color: var(--muted-light);
  font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace;
  font-size: 14px;
  line-height: 1.85;
  white-space: pre-wrap;
  overflow-wrap: anywhere;
  tab-size: 4;
}
.citation-code code { font: inherit; }
.citation-code:focus-visible {
  outline: 2px solid var(--accent);
  outline-offset: 5px;
}
@media (max-width: 640px) {
  .paper-authors {
    gap: 6px;
    margin-top: 21px;
    font-size: 15px;
  }
  .paper-author-row { justify-content: flex-start; gap: 6px 17px; }
  .paper-affiliations { justify-content: flex-start; gap: 5px 17px; font-size: 13px; }
  .abstract-text { font-size: 16px; line-height: 1.8; }
  .citation-code { padding: 20px 18px; font-size: 12px; }
}
@media (max-width: 380px) {
  :root { scroll-padding-top: 190px; }
}

/* Compact paper layout: one navigation entry per primary section. */
:root { scroll-padding-top: 92px; }
.site-header { height:64px; min-height:64px; }
.site-header .nav-shell { gap:20px; }
.brand-name { font-size:23px; }
.site-header .nav-shell .section-nav { gap:2px; }
.site-header .nav-shell .section-nav a { font-size:13px; padding:10px; }
.hero { padding-top:36px; }
.hero h1 { font-size:clamp(27px,2.5vw,36px); line-height:1.3; }
.hero .hero-insight { font-size:18px; margin-top:16px; }
.paper-authors { font-size:16px; line-height:1.5; margin-top:18px; gap:6px; }
.paper-affiliations { margin-top:12px; font-size:13px; }
.hero .teaser-frame { max-width:1040px; margin:26px auto 0; }
.frame-topline { height:36px; }
main .section-block { padding-block:56px; }
main #long-range.section-block { padding-top:56px; }
main > .method-section, main > .results-section { padding:0; }
main .section-kicker { margin-bottom:14px; }
main .section-heading { margin-bottom:24px; }
main h2 { font-size:clamp(29px,3vw,42px); line-height:1.15; letter-spacing:-1.2px; }
.section-intro { max-width:960px; margin:-8px 0 24px; color:var(--muted-light); font-size:16px; line-height:1.65; }
.abstract-text { font-size:17px; line-height:1.75; }
.content-tabs { display:flex; flex-wrap:wrap; gap:8px; margin:0 0 20px; }
.content-tabs [role=tab] { padding:10px 16px; border:1px solid var(--line); border-radius:6px; color:var(--muted-light); font-size:14px; line-height:1.35; }
.content-tabs [role=tab]:hover { border-color:var(--accent); }
.content-tabs [aria-selected=true] { background:#2b3b22; color:var(--accent); border-color:#758957; }
[role=tabpanel]:focus-visible { outline:2px solid var(--accent); outline-offset:5px; }
.example-panel .section-heading { margin:0 0 16px; }
.example-panel .section-heading h3 { font-size:23px; font-weight:500; }
.example-panel h3 em { font-style:normal; color:var(--muted-light); }
#insight .samples-strip { display:grid; grid-template-columns:repeat(8,minmax(0,1fr)); gap:4px; }
#insight .samples-strip img { width:100%; height:88px; min-height:0; object-fit:cover; }
#insight .samples-heading { padding:8px 12px; }
#insight .cloud-grid { grid-template-columns:repeat(4,minmax(0,1fr)); gap:12px; }
#insight .cloud-card-heading { min-height:44px; padding:10px 12px; }
#insight .cloud-card-heading h3 { font-size:16px; }
#insight .cloud-viewer:not(:fullscreen):not(.viewer-expanded) { height:250px; min-height:0; aspect-ratio:auto; }
#insight .viewer-toolbar { right:7px; bottom:7px; padding:3px; }
#insight .viewer-toolbar button[data-action=poses] { min-width:0; padding:7px; }
#insight .trajectory-button-label { display:none; }
#insight .viewer-density { padding-inline:5px; }
#insight .viewer-density input { width:38px; }
#insight .cloud-viewer:fullscreen .trajectory-button-label,
#insight .viewer-expanded .trajectory-button-label { display:inline; }
#insight .comparison-toolbar { padding-block:12px; }
#insight .comparison-note { margin-top:14px; }
#explore .map-stage { max-height:none; }
#explore .detail-image-wrap { min-height:0; }
#geometry .gallery-rail { overflow-x:auto; }
#geometry .gallery-pair { margin-bottom:16px; }
.sequence-browser { margin-top:24px; }
#sequence-list { gap:0; margin-top:0; }
#sequence-list .sequence-card { margin:0; }
#sequence-list .sequence-heading { padding:16px 20px; }
#sequence-list .sequence-heading h3 { font-size:20px; }
#sequence-list .sequence-meta { margin-top:7px; }
#sequence-list .sequence-stat strong { font-size:22px; }
#long-range .oxford-cloud-grid .cloud-viewer:not(:fullscreen):not(.viewer-expanded) { aspect-ratio:auto; height:270px; min-height:0; }
#long-range .trajectory-result img { height:145px; width:100%; object-fit:contain; }
#long-range .trajectory-result { padding:12px; }
#long-range .oxford-comparison { padding:20px; }
#long-range .oxford-comparison-heading { margin-bottom:16px; }
#method .method-diagram { margin-top:0; }
#method .method-stage { padding-block:20px; }
#method .stage-graphic { height:76px; }
#method .stage-explanation { min-height:90px; padding-block:18px; }
#results .split-heading { grid-template-columns:1fr auto; gap:20px; }
#results .chart-card { padding:20px; }
#results .benchmark-highlights { margin-top:24px; padding-block:22px; }
#results .kitti-extension { margin-top:20px; padding:22px; }
#generalization .prior-comparison { padding:22px; }
#generalization .prior-three-row { padding-block:16px; }
.citation-code { padding:20px 24px; line-height:1.65; }
@media(max-width:1199px) {
  #insight .cloud-grid { grid-template-columns:repeat(2,minmax(0,1fr)); }
  #insight .cloud-viewer:not(:fullscreen):not(.viewer-expanded) { height:280px; }
  .site-header { height:auto; }
  .site-header .nav-shell { flex-wrap:wrap; row-gap:8px; padding-block:10px; }
  .site-header .nav-shell .section-nav { flex-basis:100%; margin:0; justify-content:flex-start; flex-wrap:nowrap; overflow-x:auto; min-width:0; }
  .site-header .nav-shell .section-nav a { font-size:12px; padding:8px 10px; }
  :root { scroll-padding-top:120px; }
}
@media(max-width:700px) {
  main .section-block { padding-block:40px; }
  main #long-range.section-block { padding-top:40px; }
  main .section-heading { margin-bottom:18px; }
  main h2 { font-size:29px; }
  .hero { padding-top:28px; }
  .hero .hero-insight { font-size:16px; }
  .section-intro { font-size:15px; margin-bottom:18px; }
  .abstract-text { font-size:16px; text-align:left; }
  .content-tabs { gap:6px; }
  .content-tabs [role=tab] { padding:9px 11px; font-size:13px; }
  #insight .samples-strip { grid-template-columns:repeat(4,minmax(0,1fr)); }
  #insight .samples-strip img { height:62px; }
  #insight .cloud-grid { grid-template-columns:1fr; }
  #insight .cloud-viewer:not(:fullscreen):not(.viewer-expanded) { height:280px; }
  #insight .comparison-toolbar { align-items:flex-start; flex-direction:column; gap:6px; }
  .trajectory-hint { display:none; }
  #long-range .oxford-comparison { padding:12px; }
  #long-range .oxford-cloud-grid .cloud-viewer:not(:fullscreen):not(.viewer-expanded) { height:250px; }
  #results .split-heading { grid-template-columns:1fr; }
  #results .kitti-extension, #generalization .prior-comparison { padding:16px; }
  #sequence-list .sequence-heading { padding:14px; }
  #sequence-list .sequence-stat strong { font-size:19px; }
  .paper-authors { font-size:15px; }
}

#sequence-list .sequence-third-label { display:block; color:var(--muted-light); }

/* A shared black surface keeps attention on figures and results. */
:root { --bg:#000; --panel:#000; --panel-2:#000; --chart-panel:#000; --line:#333; }
body :is(.method-section,.results-section,.frame-topline,.teaser-frame,.teaser-frame figcaption,
.cloud-card,.cloud-card-ours .cloud-card-heading,.cloud-card-ours .cloud-card-footer,
.oxford-comparison,.oxford-card-title,.oxford-ours .oxford-card-title,.oxford-view-footer,
.trajectory-result,.oxford-ours .trajectory-result,.oxford-cloud-card .trajectory-result img,
.map-explorer,.depth-gallery,.gallery-pair,.gallery-choice,.gallery-choice.is-active,
.input-samples,.samples-strip,.sequence-card,.sequence-images,.sequence-images figcaption,
.prior-comparison,.chart-card,.kitti-extension,.chart-highlight,.citation-code,
.region-tab.is-active,.prior-tab.is-active,.content-tabs [aria-selected=true],
.sequence-play-toggle:hover,.gallery-navigation button:hover,.sequence-map-toggle,
.sequence-map-toggle:hover,.viewer-toolbar,.geometry-reset,.geometry-reset:hover,
.viewer-toolbar button[data-action=poses],.viewer-toolbar button[data-action=poses][aria-pressed=true],
.viewer-toolbar button[data-action=poses][aria-pressed=false],.viewer-toolbar button:hover) { background:var(--bg); }
.site-header { background:rgba(0,0,0,.96); }
.site-header .nav-shell .section-nav a:hover,
.site-header .nav-shell .section-nav a.is-active { background:transparent; }
.content-tabs [aria-selected=true],.region-tab.is-active,.gallery-choice.is-active,.prior-tab.is-active { border-color:var(--accent); }
.viewer-toolbar button[data-action=poses][aria-pressed=true] { box-shadow:inset 0 -2px var(--accent); }
.viewer-toolbar button:hover,.geometry-reset:hover { outline:1px solid var(--line); }
.tldr-label { color:var(--ink); font-weight:650; margin-right:4px; }
.method-figure { margin:0; }
.method-figure-open { position:relative; display:block; width:100%; padding:0; border:0; border-radius:0; overflow:hidden; cursor:zoom-in; background:#000; }
.method-figure-open img { display:block; width:100%; height:auto; }
.figure-enlarge-hint { display:block; background:var(--bg); color:var(--muted-light); font-size:12px; padding:9px 14px; text-align:right; }
.method-figure figcaption { margin-top:18px; max-width:1120px; color:var(--muted-light); font-size:16px; line-height:1.7; }
.method-figure figcaption strong { color:var(--ink); font-weight:550; }
#method-figure-dialog { width:min(1500px,95vw); max-width:95vw; max-height:90vh; padding:20px; border:1px solid #555; border-radius:12px; background:var(--bg); color:var(--ink); }
#method-figure-dialog::backdrop { background:rgba(0,0,0,.8); }
.figure-dialog-heading { display:flex; justify-content:space-between; align-items:center; gap:20px; margin-bottom:18px; }
.figure-dialog-heading h2 { font-size:20px; letter-spacing:0; }
.figure-dialog-heading button { padding:8px 12px; border:1px solid #555; border-radius:5px; white-space:nowrap; }
.figure-dialog-image { overflow:auto; background:#000; }
.figure-dialog-image img { width:100%; min-width:1100px; max-width:none; height:auto; }
#method-figure-dialog p { margin-top:12px; color:var(--muted); font-size:13px; }
#explore .detail-panel { display:block; padding:24px; }
#explore .map-explorer { align-items:start; }
#explore .detail-heading { margin-bottom:16px; }
.detail-pair { display:grid; gap:24px; }
.detail-pair figure { margin:0; min-width:0; }
.detail-pair img { display:block; width:100%; height:auto; max-height:none; border-radius:4px; }
.detail-pair figcaption { padding:12px 0 0; font-size:13px; line-height:1.5; color:var(--muted-light); }
.more-scenes-row { margin-top:44px; padding-top:40px; border-top:1px solid var(--line); }
.more-scenes-row .section-heading h3,.quantitative-subsection h3 { font-size:26px; line-height:1.3; font-weight:500; letter-spacing:-.5px; }
.more-scenes-row h3 em,.quantitative-subsection h3 em { font-style:normal; color:var(--muted-light); }
#generalization.quantitative-subsection { padding:40px 0 0; margin-top:40px; border-top:1px solid var(--line); }
#generalization.quantitative-subsection .section-heading { margin-bottom:20px; }
@media(max-width:1250px) {
  .site-header { height:auto; }
  .site-header .nav-shell { flex-wrap:wrap; row-gap:8px; padding-block:10px; }
  .site-header .nav-shell .section-nav { flex-basis:100%; margin:0; justify-content:flex-start; flex-wrap:nowrap; overflow-x:auto; min-width:0; }
  .site-header .nav-shell .section-nav a { font-size:12px; padding:8px 10px; }
  :root { scroll-padding-top:120px; }
}
@media(max-width:700px) {
  .method-figure figcaption { font-size:15px; }
  #explore .detail-panel { padding:14px; }
  .detail-pair img { height:auto; max-height:none; }
  .more-scenes-row { margin-top:26px; padding-top:24px; }
  .more-scenes-row .section-heading h3,.quantitative-subsection h3 { font-size:23px; }
  #method-figure-dialog { padding:14px; }
  .figure-dialog-heading h2 { font-size:16px; }
}

/* Match the artwork to the video, without stretching either medium. */
#teaser-video { display:block; width:100%; height:auto; aspect-ratio:16/9; object-fit:contain; }

.teaser-player { position:relative; aspect-ratio:16/9; }
.teaser-play { position:absolute; inset:0; width:100%; padding:0; border:0; background:#000; cursor:pointer; }
.teaser-play[hidden] { display:none; }
.teaser-play > img { display:block; width:100%; height:100%; object-fit:contain; }
.teaser-play-label { position:absolute; bottom:18px; right:22px; display:flex; align-items:center; gap:9px; padding:10px 14px; color:var(--ink); background:#000; border:1px solid #59644f; border-radius:6px; font-size:14px; }
.teaser-play-label svg { width:14px; height:14px; color:var(--accent); }
.teaser-play-label > span { color:var(--muted-light); }
.teaser-play:hover .teaser-play-label { border-color:var(--accent); }
.teaser-play:focus-visible { outline:2px solid var(--accent); outline-offset:-4px; }
@media(max-width:700px) {
  .teaser-play-label { bottom:10px; right:12px; gap:6px; padding:7px 9px; font-size:11px; }
  .teaser-play-label > span { display:none; }
}