/* CoopUQ content adjustments. DMW's original styles live in static/css/index.css. */
html { scroll-padding-top: 24px; }
.skip-link { position: absolute; left: 12px; top: -70px; z-index: 1100; background: white; padding: 10px 16px; }
.skip-link:focus { top: 12px; }
.coopuq-moreworks { position: fixed; top: 20px; right: 20px; z-index: 1000; }
.coopuq-moreworks .button { font-weight: 500; width: auto; }
.scroll-to-top svg { width: 1em; height: 1em; fill: none; stroke: currentColor; stroke-width: 1.8; stroke-linecap: round; stroke-linejoin: round; }
.coopuq-figure { width: 100%; margin: 0 0 28px; }
.coopuq-figure img { display: block; width: 100%; height: auto; margin: 0 auto 14px; }
.coopuq-figure figcaption, .coopuq-video-caption { font-size: .95rem; line-height: 1.65; color: var(--text-secondary); text-align: center; margin-top: 12px; }
.coopuq-video { width: 100%; height: auto; display: block; border-radius: 12px; box-shadow: 0 0 0 1px rgba(15, 23, 42, .08), 0 8px 24px -14px rgba(15, 23, 42, .24); background: #000; }
.coopuq-supplementary { aspect-ratio: 1664 / 934; }
#motivation .hero-body { padding-bottom: 1rem; }
#motivation .content p:last-child { margin-bottom: 0; }
#video { padding-top: 1rem; }
.coopuq-demo { aspect-ratio: 16 / 9; }
.coopuq-demo-heading { margin-bottom: 14px !important; }
.coopuq-citation-actions { display: flex; align-items: center; gap: 16px; }
.coopuq-citation-actions a { font-size: .9rem; }
.coopuq-copy-status { min-height: 24px; margin-top: 8px; font-size: .85rem; color: var(--text-secondary); }
#bibtex { white-space: pre; }
video:focus-visible, button:focus-visible { outline: 3px solid var(--primary-color); outline-offset: 4px; }
.publication-links .link-block button { margin: 8px 4px; }
.publication-conference { display: flex; flex-wrap: wrap; align-items: center; justify-content: center; gap: 8px 12px; margin: 15px 0 20px; }
.publication-conference > span { font-weight: 600; text-wrap: balance; }
.conference-logo { display: inline-flex; flex: 0 0 auto; }
.conference-logo img { display: block; width: 88px; height: 44px; }
.conference-logo:focus-visible { outline: 3px solid var(--primary-color); outline-offset: 4px; }
.institution-logos { display: flex; flex-wrap: wrap; align-items: center; justify-content: center; gap: 10px 26px; margin: 14px auto 16px; }
.publication-authors .institution-logo { display: flex; align-items: center; justify-content: center; line-height: 0; }
.institution-logo img { display: block; width: var(--logo-width, 96px); height: auto; object-fit: contain; }
/* Balance the visible area of wide wordmarks and compact symbols. */
.institution-logo--georgia-tech { --logo-width: 128px; }
.institution-logo--ucr { --logo-width: 92px; }
.institution-logo--michigan { --logo-width: 184px; }
.institution-logo--georgia { --logo-width: 92px; }
.institution-logo--nyu { --logo-width: 140px; }
.institution-logo--kaist { --logo-width: 96px; }
.publication-authors .institution-logo::after { display: none; }
.institution-logo:focus-visible { outline: 3px solid var(--primary-color); outline-offset: 6px; }
.method-figure { margin: 0 auto 24px; width: 100%; background: #fff; }
.method-figure a, .method-figure img { display: block; width: 100%; }
.method-figure img { height: auto; }
.sr-only { position: absolute; width: 1px; height: 1px; padding: 0; margin: -1px; overflow: hidden; clip: rect(0, 0, 0, 0); white-space: nowrap; border: 0; }
.result-note { color: var(--text-secondary); font-size: 13px; line-height: 1.65; margin: 0 0 40px; }
.result-section .result-note { margin-bottom: 0; }
/* Native tables keep values selectable and their column groups aligned. */
.result-section h2 { max-width: 900px; margin-inline: auto; }
.results-card { max-width: 960px; overflow: hidden; margin: 0 auto 18px; border: 1px solid #dce4ee; border-radius: 16px; background: #fff; box-shadow: 0 8px 28px -22px #33415540; }
.result-section .result-note { max-width: 960px; margin-inline: auto; }
.results-scroll { overflow-x: auto; overscroll-behavior-x: contain; scrollbar-width: thin; scrollbar-color: #cbd5e1 #f8fafc; }
.results-scroll:focus-visible, .forecast-matrix-scroll:focus-visible { outline: 2px solid #2563eb; outline-offset: -3px; }
.results-table { width: 100%; border-collapse: separate; border-spacing: 0; color: #334155; font-size: 13px; line-height: 1.5; font-variant-numeric: tabular-nums; }
.results-table th, .results-table td { padding: 9px 6px; vertical-align: middle; text-align: center; white-space: nowrap; font-weight: 400; }
.results-table thead th { padding: 14px 8px; border-bottom: 1px solid #dce5ef; background: #f4f7fb; color: #334155; font-size: 14px; white-space: normal; }
.results-table thead th[colspan] { border-inline-start: 1px solid #dce5ef; }
.results-table thead tr + tr th { background: #fafbfd; color: #475569; font-size: 13px; padding-block: 10px; }
.header-main { display: block; margin-inline: auto; font-weight: 500; line-height: 1.35; white-space: nowrap; }
.results-table thead th:first-child[rowspan] .header-main { margin-left: 0; }
.results-table thead th[colspan] .header-main { max-width: none; }
.header-detail { display: block; max-width: 12ch; margin: 5px auto 0; color: #64748b; font-size: 11px; font-weight: 400; line-height: 1.4; text-wrap: balance; }
.results-table thead th[colspan] .header-detail { max-width: none; }
.header-context { display: block; margin-top: 6px; color: #64748b; font-size: 10px; font-weight: 400; line-height: 1.3; letter-spacing: .035em; white-space: nowrap; }
.metric-direction { margin-left: 2px; color: #64748b; font-size: 12px; font-weight: 400; }
.results-table thead tr + tr .header-main { font-size: 12px; font-weight: 400; }
#forecast-results .results-table,
#navigation-results .results-table,
#scalability-results .results-table { min-width: 860px; }
#real-results .results-table { min-width: 800px; }
.results-table thead .header-group--structure { background: #eff6ff; }
.results-table thead .header-group--error { background: #f5f2fb; }
.results-table thead .header-group--overlap { background: #eef7f4; }
.results-table tbody td.group-start,
.results-table tbody td.group-start,
.results-table tbody td.group-start,
.results-table tbody td.group-start,
.results-table tbody td.group-start,
.results-table tbody td.group-start { border-left: 1px solid #e2e8f0; }
.results-table thead tr:first-child th:first-child, .results-table tbody th { padding-left: 14px; text-align: left; }
.results-table thead tr:first-child th:first-child, .results-table tbody th { position: sticky; left: 0; z-index: 1; }
.results-table thead tr:first-child th:first-child { z-index: 2; }
.results-table tbody th, .results-table tbody td { border-bottom: 1px solid #edf1f6; background: #fff; }
.results-table tbody tr:last-child > * { border-bottom: 0; }
.results-table tbody tr.result-divider > * { border-top: 1px solid #cfdbe8; }
.results-table tbody tr.result-ours > * { background: #eff6ff; }
.results-table tbody tr.result-ours th { color: #1d4ed8; box-shadow: inset 3px 0 #3979d3; }
.results-table .metric-value { font-size: 14px; }
.results-table .metric-std { display: block; margin-top: 1px; color: #64748b; font-size: 12px; line-height: 1.3; }
.results-table .metric-best .metric-value { color: #1d4ed8; }
.results-table .metric-missing { color: #94a3b8; }
.results-table .fusion-label { color: #64748b; font-size: 12px; }
.results-table .method-detail { display: block; color: #64748b; font-size: 10px; }
.results-table .pair-separator { display: none; }
.results-table .paired-metric { font-size: 14px; }
.results-table .paired-metric > span:not(.pair-separator) { display: block; line-height: 1.4; }
.results-table .paired-metric > span:last-child { margin-top: 2px; color: #64748b; }
.results-table .environment-cell { color: #64748b; font-size: 12px; }
/* Each OOD scenario exposes its exact rates alongside the animated bars. */
.ood-legend { display: flex; flex-wrap: wrap; justify-content: center; gap: 12px 24px; margin: 0 0 24px; padding: 0; list-style: none; }
.ood-legend li { display: flex; align-items: center; gap: 8px; color: #64748b; font-size: 13px; }
.ood-swatch { display: inline-block; width: 18px; height: 8px; border-radius: 3px; }
.ood-segment--success { background: #4d8edb; }
.ood-segment--collision { background: #e9a097; }
.ood-segment--timeout { background: #c6d0dc; }
.ood-charts { display: grid; grid-template-columns: repeat(3, minmax(0, 1fr)); gap: 20px; margin-bottom: 18px; }
.ood-chart { min-width: 0; overflow: hidden; border: 1px solid var(--scenario-border); border-radius: 16px; background: #fff; }
.ood-chart > header { padding: 18px 20px; border-bottom: 1px solid var(--scenario-border); background: var(--scenario-background); }
.ood-chart h3 { margin: 0; color: var(--scenario-heading); font-size: 16px; font-weight: 400; line-height: 1.5; }
.ood-chart-body { padding: 12px 16px 8px; }
.ood-group + .ood-group { margin-top: 14px; padding-top: 12px; border-top: 1px solid #e8edf3; }
.ood-group h4 { margin: 0 0 8px; padding: 5px 10px; border-left: 3px solid var(--scenario-heading); border-radius: 0 6px 6px 0; background: var(--scenario-background); color: var(--scenario-heading); font-size: 13px; font-weight: 600; line-height: 1.4; letter-spacing: .02em; }
.ood-methods { margin: 0; padding: 0; list-style: none; }
.ood-method { padding: 2px 6px; border-radius: 6px; }
.ood-method + .ood-method { margin-top: 4px; }
.ood-method-name { color: #475569; font-size: 12px; line-height: 1.25; }
.ood-method-name sup { margin-left: 2px; font-size: 9px; color: #64748b; }
.ood-outcomes { position: relative; height: 42px; margin-top: 1px; font-variant-numeric: tabular-nums; }
.ood-label { position: absolute; top: 0; left: var(--position); transform: translateX(-50%); color: #336da9; font-size: 11px; line-height: 14px; white-space: nowrap; }
.ood-label::after { content: ""; position: absolute; top: 15px; left: 50%; height: 3px; border-left: 1px solid currentColor; opacity: .6; }
.ood-code { font-size: 10px; }
.ood-label--collision { color: #a6554d; }
.ood-label--timeout { top: 30px; transform: translateX(-100%); color: #64748b; }
.ood-label--timeout::after { top: -5px; left: 100%; height: 5px; }
.ood-bar-track { position: absolute; top: 18px; left: 0; right: 0; overflow: hidden; height: 7px; border-radius: 3px; background: #f1f5f9; }
.ood-bar-fill { display: flex; width: 100%; height: 100%; transform-origin: left center; }
.ood-segment { display: block; height: 100%; flex-shrink: 0; }
.ood-method--ours { background: #eff6ff; }
.ood-method--ours .ood-method-name { color: #1d4ed8; }
/* Pair each baseline with a cooperative run so the contrast is visible at a glance. */
.comparison-pair { display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 20px; align-items: start; }
.comparison-pair + .comparison-pair { margin-top: 28px; padding-top: 28px; border-top: 1px solid var(--border-color); }
.comparison-panel { min-width: 0; margin: 0; padding: 6px; border: 1px solid var(--comparison-border); border-radius: 14px; background: white; box-shadow: 0 6px 22px -16px rgba(15, 23, 42, .28); }
.comparison-panel--baseline { --comparison-accent: #64748b; --comparison-border: #e2e8f0; --comparison-background: #f1f5f9; --comparison-text: #334155; }
.comparison-panel--cooperative { --comparison-accent: #2563eb; --comparison-border: #c7d9f5; --comparison-background: #eff6ff; --comparison-text: #1d4ed8; }
.comparison-panel .comparison-label { display: flex; align-items: center; justify-content: center; gap: 8px; margin: 0; padding: 12px 16px; border-radius: 8px 8px 0 0; background: var(--comparison-background); color: var(--comparison-text); font-size: 1rem; font-weight: 500; line-height: 1.5; text-align: center; }
.comparison-panel .comparison-label::before { content: ""; width: 6px; height: 6px; flex-shrink: 0; border-radius: 50%; background: var(--comparison-accent); }
.comparison-panel .coopuq-video { border-radius: 0 0 8px 8px; box-shadow: none; }
/* List every comparison at full width, with one readable HTML legend. */
.navigation-legend { position: sticky; top: 0; z-index: 5; display: flex; flex-wrap: wrap; justify-content: center; gap: .6rem 1.25rem; margin: 0 0 2rem; padding: 1rem .5rem; list-style: none; background: #fff; border-bottom: 1px solid var(--border-color); }
.navigation-legend li { display: flex; align-items: center; gap: .4rem; color: #475569; font-size: .9rem; font-weight: 400; line-height: 1.5; }
.navigation-legend svg { width: 22px; height: 22px; flex: 0 0 22px; }
.navigation-group { padding: clamp(16px, 2.5vw, 28px); border: 1px solid var(--scenario-border); border-radius: 18px; background: var(--scenario-background); }
.navigation-group + .navigation-group { margin-top: 3rem; }
.navigation-group h3 { margin: 0 0 1.25rem; color: var(--scenario-heading); font-size: 1.125rem; font-weight: 400; line-height: 1.4; letter-spacing: .01em; }
.navigation-group--iid { --scenario-background: #f1f7ff; --scenario-border: #cfe0f5; --scenario-heading: #27578c; }
.navigation-group--unseen { --scenario-background: #f6f2ff; --scenario-border: #e1d6f5; --scenario-heading: #695193; }
.navigation-group--rushing { --scenario-background: #eef8f4; --scenario-border: #cee6dc; --scenario-heading: #24634f; }
.navigation-group--denser { --scenario-background: #fff8ee; --scenario-border: #f2d8b4; --scenario-heading: #9a4d13; }
.navigation-demo { margin: 0; padding: clamp(10px, 1.6vw, 16px); border: 1px solid var(--scenario-border); border-radius: 14px; background: #fff; }
.navigation-demo + .navigation-demo { margin-top: 1.5rem; }
.navigation-demo figcaption { margin: 0 0 .65rem; color: var(--text-secondary); font-size: 1rem; font-weight: 400; line-height: 1.5; }
.robot-count { display: flex; flex-wrap: wrap; align-items: center; gap: 6px 12px; }
.robot-count-label { display: inline-flex; align-items: center; justify-content: center; min-width: 5.5rem; padding: 4px 10px; border: 1px solid var(--scenario-border); border-radius: 6px; background: var(--scenario-background); color: var(--scenario-heading); font-size: .875rem; line-height: 1.25; font-variant-numeric: tabular-nums; white-space: nowrap; }
.robot-count-icons { display: inline-flex; flex-wrap: wrap; align-items: center; gap: 2px; max-width: 100%; }
.robot-count img { display: block; width: clamp(18px, 5vw, 24px); height: clamp(18px, 5vw, 24px); }
.navigation-methods { display: grid; grid-template-columns: repeat(3, minmax(0, 1fr)); gap: 2.3%; margin: 0 1.7% .5rem; color: #475569; font-size: clamp(1rem, 1.4vw, 1.125rem); font-weight: 400; line-height: 1.5; text-align: center; }
.navigation-methods span { padding: 4px 0 6px; border-bottom: 2px solid #e2e8f0; }
.navigation-methods .navigation-method--ours { color: #1d4ed8; border-color: #2563eb; }
.navigation-video { aspect-ratio: 2686 / 936; background: #fafbfc; }
/* Keep scientific image pixels intact; all labels are responsive HTML. */
.forecast-grid { display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 24px; align-items: start; }
.forecast-card { container-type: inline-size; min-width: 0; overflow: hidden; border: 1px solid var(--scenario-border); border-radius: 18px; background: #fff; }
.forecast-card-header { display: flex; align-items: baseline; justify-content: space-between; gap: 8px; min-height: 56px; padding: 14px 16px; border-bottom: 1px solid var(--scenario-border); background: var(--scenario-background); }
.forecast-card-header h3 { margin: 0; color: var(--scenario-heading); font-size: clamp(13px, 3.8cqw, 18px); font-weight: 400; line-height: 1.5; white-space: nowrap; }
.forecast-card-header p { margin: 0; color: var(--scenario-heading); font-size: clamp(10px, 2.9cqw, 14px); font-weight: 400; line-height: 1.5; white-space: nowrap; }
.forecast-card-body { padding: 12px; }
.forecast-matrix-scroll { overflow-x: auto; overscroll-behavior-x: contain; scrollbar-width: thin; scrollbar-color: #cbd5e1 #f8fafc; }
.forecast-matrix { table-layout: fixed; width: 100%; min-width: 340px; max-width: 420px; margin-inline: auto; border-spacing: 0; border-collapse: separate; }
.forecast-matrix th { padding: 8px 6px; color: #475569; font-size: .875rem; font-weight: 400; text-align: center; vertical-align: middle; }
.forecast-matrix th:first-child { width: 96px; text-align: left; }
.forecast-matrix thead th { color: #64748b; font-size: .8rem; }
.forecast-matrix tbody th { position: sticky; left: 0; z-index: 1; background: #fff; }
.forecast-matrix tbody tr > * { border-top: 1px solid #e8edf3; }
.forecast-matrix td { padding: 6px; vertical-align: middle; }
.forecast-matrix img { display: block; width: 100%; height: auto; aspect-ratio: 1; border-radius: 6px; background: #000; }
.forecast-row--ours > * { background: #eff6ff; }
.forecast-matrix .forecast-row--ours th { background: #eff6ff; color: #1d4ed8; box-shadow: inset 3px 0 #3979d3; }
.forecast-row--ours > :first-child { border-radius: 0 0 0 8px; }
.forecast-row--ours > :last-child { border-radius: 0 0 8px 0; }
/* Keep the paper-page layout while giving its argument a clearer reading rhythm. */
.publication-title { max-width: 1080px; margin-inline: auto; text-wrap: balance; line-height: 1.2 !important; }
.title.is-3 { text-wrap: balance; }
.title.is-3::after { width: 48px; height: 2px; background: var(--primary-color); }
.content.has-text-justified { color: #4b5563; text-align: left !important; }
.bibtex-header { flex-wrap: wrap; gap: 1rem; }
.coopuq-citation-actions { flex-wrap: wrap; }
@media screen and (max-width: 900px) {
  .forecast-grid { grid-template-columns: minmax(0, 1fr); max-width: 480px; margin-inline: auto; }
}
@media screen and (max-width: 768px) {
  .ood-charts { grid-template-columns: minmax(0, 1fr); max-width: 520px; margin-inline: auto; }
  .ood-chart-body { padding-inline: 18px; }
  .ood-chart > header { padding-inline: 24px; }
  .results-table th, .results-table td { padding-inline: 6px; }
  .coopuq-moreworks { position: static; padding: 12px 16px 0; text-align: right; }
  .coopuq-citation-actions { gap: 10px; }
  .coopuq-citation-actions a { font-size: .75rem; }
  .copy-bibtex-btn { padding: .6rem .8rem; }
  .content.has-text-justified { text-align: left !important; }
  .institution-logos { gap: 8px 18px; }
  .institution-logo img { width: calc(var(--logo-width, 96px) * .8); }
  .title.is-3:not(.publication-title) { font-size: 1.65rem; line-height: 1.3; }
  .scroll-to-top { right: 1rem; bottom: 1rem; width: 44px; height: 44px; }
}
@media screen and (max-width: 640px) {
  .forecast-matrix th { font-size: .8rem; }
  .comparison-pair { grid-template-columns: minmax(0, 1fr); gap: 14px; }
  .comparison-pair + .comparison-pair { margin-top: 24px; padding-top: 24px; }
}
@media screen and (max-width: 340px) {
  .forecast-card-header { flex-wrap: wrap; gap: 4px 8px; }
}
@media (prefers-reduced-motion: reduce) {
  html { scroll-behavior: auto; }
  *, *::before, *::after { animation: none !important; transition: none !important; }
}

/* Looping simulation scenes directly below the header. */
.coopuq-scene-strip { max-width: 916px; margin: -2rem auto 0; padding: 0 12px 1rem; }
.coopuq-scene-strip video { display: block; width: 100%; height: auto; aspect-ratio: 1440 / 940; background: #fff; }
.conference-logo--corner { position: absolute; top: 14px; left: 20px; z-index: 10; }
.conference-logo--corner img { width: 128px; height: 64px; }
@media (max-width: 768px) { .conference-logo--corner { top: 8px; left: 12px; } .conference-logo--corner img { width: 88px; height: 44px; } }
/* Forecast clips: one video of 3 x 7 panels per card, labelled in the page. */
.forecast-clip { display: grid; grid-template-columns: clamp(52px, 13cqw, 104px) minmax(0, 1fr); gap: 4px 6px; color: #475569; font-size: clamp(9px, 2cqw, 13px); line-height: 1.3; }
.forecast-clip-groups, .forecast-clip-times { grid-column: 2; display: grid; text-align: center; }
.forecast-clip-groups { grid-template-columns: 3fr 2fr 2fr; color: #334155; font-weight: 600; }
.forecast-clip-groups span { margin: 0 3px; padding-bottom: 2px; border-bottom: 1px solid #cbd5e1; }
.forecast-clip-times { grid-template-columns: repeat(7, 1fr); color: #64748b; }
.forecast-clip-rows { grid-column: 1; display: grid; grid-template-rows: repeat(3, 1fr); align-items: center; }
.forecast-clip-ours { color: #1d4ed8; font-weight: 600; }
.forecast-clip-video { grid-column: 2; display: block; width: 100%; height: auto; aspect-ratio: 1596 / 690; background: #fff; }
@media (max-width: 768px) { .forecast-grid--clips { max-width: 640px; } }
/* Compact result tables with visible column and group dividers. */
.results-table th, .results-table td { padding: 4px 6px; }
.results-table thead th { padding: 8px 8px; font-size: 13px; }
.results-table thead tr + tr th { padding-block: 5px; }
.results-table tbody td { border-left: 1px solid #e6ecf3; }
.results-table thead tr + tr th { border-left: 1px solid #e6ecf3; }
.results-table thead tr:first-child th + th { border-inline-start: 1px solid #dce5ef; }
.results-table .metric-value, .results-table .paired-metric { font-size: 13px; }
.results-table .metric-std { margin-top: 0; font-size: 10.5px; line-height: 1.15; }
.results-table .paired-metric > span:not(.pair-separator) { line-height: 1.25; }
.results-table .paired-metric > span:last-child { margin-top: 0; }
.results-table tbody tr.result-divider > * { border-top: 2px solid #b9c7d8; }
.results-table tbody td.group-start,
.results-table tbody td.group-start,
.results-table tbody td.group-start,
.results-table tbody td.group-start,
.results-table tbody td.group-start,
.results-table tbody td.group-start { border-left: 2px solid #c5d1e0; }
/* Merged cells for repeated methods, fusion types and team sizes. */
.results-table tbody .cell-merged { vertical-align: middle; border-bottom: 1px solid #edf1f6; }
.results-table tbody td.cell-merged { background: #fbfcfe; }
.results-table tbody tr.result-ours > td.cell-merged { background: #eff6ff; }
#scalability-results .results-table tbody td.cell-merged { padding-left: 14px; border-left: 0; background: #fbfcfe; color: #334155; font-size: 15px; text-align: left; }
#scalability-results .results-table tbody th { position: static; padding-left: 10px; border-left: 1px solid #e6ecf3; }
#scalability-results .results-table tbody tr.result-ours th { box-shadow: inset 3px 0 #3979d3; }
.results-table tbody tr.result-ours > td.cell-merged.fusion-cell[rowspan], .results-table tbody td.cell-merged.fusion-cell { background: #fbfcfe; }
#forecast-results .results-table tbody tr.result-ours > td.cell-merged.fusion-cell { background: #eff6ff; }
/* Shifted-conditions charts: one compact row per method (name, stacked bar, SR / CR / TR). */
.ood-legend { margin-bottom: 20px; }
.ood-legend li { font-size: 14px; }
.ood-swatch { width: 22px; height: 10px; }
.ood-chart { box-shadow: 0 8px 28px -22px #33415540; }
.ood-chart > header { padding: 14px 18px; }
.ood-chart h3 { font-size: 17px; font-weight: 600; }
.ood-chart-body { padding: 12px 14px 14px; }
.ood-method { display: grid; grid-template-columns: 76px minmax(0, 1fr); align-items: center; gap: 8px; padding: 3px 6px; }
.ood-method + .ood-method { margin-top: 2px; }
.ood-method-name { font-size: 13px; }
.ood-outcomes { display: flex; align-items: center; gap: 4px; height: auto; margin-top: 0; }
.ood-bar-track { position: static; flex: 1 1 auto; order: 0; height: 12px; margin-right: 4px; border-radius: 6px; }
.ood-label { position: static; order: 1; flex: 0 0 31px; transform: none; font-size: 12px; line-height: 1.4; text-align: right; }
.ood-label::after { content: none; }
.ood-label--timeout { transform: none; }
.ood-label--success { flex-basis: 34px; font-weight: 600; font-size: 13px; }
.ood-code { display: none; }
.ood-segment--success { background: #3b82d6; }
.ood-method--ours { padding-block: 6px; background: #eff6ff; box-shadow: inset 3px 0 #3979d3; }
.ood-method--ours .ood-method-name { font-weight: 600; }
.ood-method--ours .ood-bar-track { height: 14px; }
.real-group--average h4 { border-left-width: 5px; font-weight: 700; }
/* Table look: centred single-line rows, light header, horizontal rules, tinted bold row for CoopUQ. */
.results-card { max-width: 1040px; border: 1px solid #e3e8ef; border-radius: 10px; box-shadow: none; }
#scalability-results .results-card { max-width: 1180px; }
.results-table { font-size: 14px; }
.results-table th, .results-table td { padding: 6px 7px; text-align: center; }
.results-table thead th { padding: 8px 7px; border-bottom: 1px solid #e3e8ef; background: #f5f8fc; color: #1e293b; font-size: 14px; font-weight: 600; text-align: center; }
.results-table thead tr + tr th { padding-block: 6px; border-left: 0; background: #f5f8fc; color: #334155; font-size: 13px; }
.results-table thead tr:first-child th + th, .results-table thead th[colspan] { border-inline-start: 0; }
.results-table thead .header-group--structure, .results-table thead .header-group--error, .results-table thead .header-group--overlap { background: #f5f8fc; }
.results-table thead tr:first-child th:first-child, .results-table tbody th { padding-left: 12px; text-align: left; }
.results-table .header-main, .results-table thead tr + tr .header-main { font-size: inherit; font-weight: 600; }
.results-table .header-detail { font-weight: 400; }
.results-table tbody td { border-left: 0; }
.results-table tbody th, .results-table tbody td { border-bottom: 1px solid #e9edf3; }
.results-table tbody td.group-start, .results-table thead th.group-start { border-left: 1px solid #dfe5ee; }
.results-table tbody tr.result-divider > * { border-top: 1px solid #c9d3e0; }
.results-table .metric-value, .results-table .paired-metric { font-size: 14px; }
.results-table .metric-std { display: inline; margin: 0 0 0 3px; color: #888; font-size: 11.5px; line-height: inherit; }
.results-table .paired-metric > span:not(.pair-separator) { display: inline; line-height: inherit; }
.results-table .paired-metric .pair-separator { display: inline; color: #94a3b8; }
.results-table .paired-metric > span:last-child { margin-top: 0; color: #64748b; }
.results-table tbody tr.result-ours > * { background: #e8f0f8; font-weight: 600; }
.results-table tbody tr.result-ours th { box-shadow: none; color: #1d4ed8; }
.results-table tbody tr.result-ours .metric-std { font-weight: 400; }
.results-table tbody td.cell-merged, .results-table tbody td.cell-merged.fusion-cell, #scalability-results .results-table tbody td.cell-merged { background: #fff; text-align: center; padding-left: 7px; }
#forecast-results .results-table tbody tr.result-ours > td.cell-merged.fusion-cell { background: #e8f0f8; }
#scalability-results .results-table tbody th { border-left: 0; }
#scalability-results .results-table tbody tr.result-ours th { box-shadow: none; }
/* Team-size switch above the scalability table. */
.robot-toggle { display: flex; align-items: center; justify-content: center; gap: 8px; margin: 0 0 16px; }
.robot-toggle-label { margin-right: 4px; color: #475569; font-size: 14px; font-weight: 600; }
.robot-toggle-button { min-width: 52px; padding: 6px 14px; border: 1px solid #cbd5e1; border-radius: 999px; background: #fff; color: #334155; font: inherit; font-size: 14px; font-weight: 600; cursor: pointer; transition: background .15s, color .15s, border-color .15s; }
.robot-toggle-button:hover { border-color: #2563eb; color: #1d4ed8; }
.robot-toggle-button.is-active { border-color: #2563eb; background: #2563eb; color: #fff; }
#scalability-results .results-card { max-width: 1100px; }
#scalability-results .results-table tbody th { padding-left: 14px; }
.results-table tbody tr[hidden] { display: none; }
/* Real-robot clips in a card directly under the header. */
.intro-demos { padding-top: 0; padding-bottom: 2rem; }
.intro-demos .container { max-width: 1100px; }
.media-card { padding: 16px; border-radius: 12px; background: #fff; box-shadow: 0 0 0 1px rgba(15, 23, 42, .06), 0 10px 30px -18px rgba(15, 23, 42, .35); }
.media-card figure { margin: 0; }
.media-card .coopuq-video { border-radius: 8px; box-shadow: none; }
.clip-title { margin-top: 8px; color: #334155; font-size: .95rem; font-weight: 600; text-align: center; }
.coopuq-scene-strip { margin: 1rem auto 0; }
/* Shifted-conditions results as column charts: one stacked column per method, grouped by fusion type. */
.vbar-charts { display: grid; gap: 20px; max-width: 1040px; margin: 0 auto; }
.vbar-chart { overflow: hidden; border: 1px solid var(--scenario-border); border-radius: 14px; background: #fff; }
.vbar-chart > header { padding: 10px 18px; border-bottom: 1px solid var(--scenario-border); background: var(--scenario-background); }
.vbar-chart h3 { margin: 0; color: var(--scenario-heading); font-size: 16px; font-weight: 600; line-height: 1.5; }
.vbar-groups { display: flex; gap: 0; padding: 14px 12px 10px; overflow-x: auto; }
.vbar-group { flex: var(--bars) 1 0; min-width: calc(var(--bars) * 46px); padding: 0 8px; }
.vbar-group + .vbar-group { border-left: 1px dashed #d5dde8; }
.vbars { display: flex; align-items: flex-end; justify-content: space-around; gap: 6px; margin: 0; padding: 0; list-style: none; }
.vbar { display: flex; flex: 1 1 0; flex-direction: column; align-items: center; min-width: 0; max-width: 64px; }
.vbar-value { margin-bottom: 3px; color: #336da9; font-size: 12.5px; font-weight: 600; font-variant-numeric: tabular-nums; }
.vbar-stack { display: flex; flex-direction: column; justify-content: flex-end; overflow: hidden; width: 100%; max-width: 38px; height: 150px; border-radius: 5px 5px 0 0; background: #f1f5f9; }
.vbar-stack span { display: block; flex-shrink: 0; width: 100%; }
.vbar-name { margin-top: 6px; color: #475569; font-size: 11.5px; line-height: 1.25; text-align: center; overflow-wrap: anywhere; }
.vbar--ours .vbar-value { color: #1d4ed8; font-size: 14px; font-weight: 700; }
.vbar--ours .vbar-stack { box-shadow: 0 0 0 2px #2563eb; }
.vbar--ours .vbar-name { color: #1d4ed8; font-weight: 700; }
.vbar-group-name { margin: 8px 0 0; padding-top: 5px; border-top: 2px solid var(--scenario-border); color: var(--scenario-heading); font-size: 12.5px; font-weight: 600; text-align: center; }
.vbar-value { height: 18px; line-height: 18px; }
/* Section titles stay on one line on desktop. */
.result-section h2, main h2.title { max-width: none; }
@media (min-width: 1100px) { main h2.title { white-space: nowrap; text-wrap: nowrap; } }
/* Header: soft colour glows fading into the page. */
.coopuq-header { isolation: isolate; background:
  radial-gradient(ellipse 55% 60% at 18% 0%, rgba(59, 130, 246, .22), transparent 70%),
  radial-gradient(ellipse 45% 55% at 85% 8%, rgba(20, 184, 166, .18), transparent 70%),
  radial-gradient(ellipse 40% 35% at 50% 45%, rgba(139, 92, 246, .07), transparent 70%),
  linear-gradient(180deg, #eef4ff 0%, #f7faff 55%, #fff 100%); }
.coopuq-header .publication-title span[style*="color"] { background: linear-gradient(90deg, #1d4ed8, #0ea5e9 60%, #14b8a6); -webkit-background-clip: text; background-clip: text; color: transparent !important; }
.intro-caption { margin: 1rem 0 0; color: #334155; font-size: 1.05rem; line-height: 1.6; text-align: center; }
.scenario-toggle { margin-bottom: 14px; }
.vbar-chart[hidden] { display: none; }
/* Every rate is written on its own segment: timeout above the column, collision and success inside. */
.vbar-stack { height: 170px; }
.vbar-stack span { display: flex; align-items: center; justify-content: center; }
.vbar-stack b { font-size: 12px; font-weight: 600; font-variant-numeric: tabular-nums; line-height: 1; }
.vbar-stack .ood-segment--success b { color: #fff; font-size: 13px; font-weight: 700; }
.vbar-stack .ood-segment--collision b { color: #7c2d24; }
.vbar-value--timeout, .vbar--ours .vbar-value--timeout { color: #64748b; font-size: 12px; font-weight: 600; }
.vbar--ours .vbar-stack .ood-segment--success b { font-size: 14px; }
.intro-caption { margin-top: 1.1rem; color: #475569; font-size: 1.05rem; font-weight: 400; letter-spacing: .005em; }
.intro-caption b { color: #0f172a; font-weight: 600; }
.media-card .intro-caption { margin: .9rem 0 .35rem; padding-top: .9rem; border-top: 1px solid #e8edf3; color: #334155; font-size: 1.35rem; font-weight: 500; line-height: 1.4; }
.media-card .intro-caption b { color: #0f172a; font-weight: 700; }
.media-card .columns { margin-bottom: 0; }
/* Intro card, second pass: edge-to-edge clips with overlaid labels and a tinted caption band. */
.intro-demos .container { max-width: 1180px; }
.media-card { padding: 0; overflow: hidden; border-radius: 18px; background: #fff; box-shadow: 0 0 0 1px rgba(15, 23, 42, .07), 0 24px 48px -28px rgba(15, 23, 42, .45); }
.media-card .columns { gap: 3px; margin: 0; background: #0f172a; }
.media-card .column { padding: 0; }
.media-card figure { position: relative; }
.media-card .coopuq-video { border-radius: 0; }
.media-card .clip-title { position: absolute; left: 12px; bottom: 12px; margin: 0; padding: 4px 12px; border-radius: 999px; background: rgba(15, 23, 42, .72); color: #fff; font-size: .85rem; font-weight: 600; letter-spacing: .01em; backdrop-filter: blur(4px); }
.media-card .intro-caption { margin: 0; padding: 16px 20px 18px; border-top: 0; background: linear-gradient(90deg, #eef4ff, #f3fbfa); color: #334155; font-size: 1.3rem; font-weight: 500; line-height: 1.4; }
.media-card .intro-caption b { color: #1e3a8a; font-weight: 700; }
@media (max-width: 768px) { .media-card .columns { gap: 3px 0; } .media-card .intro-caption { font-size: 1.05rem; } }
.media-card .columns.is-variable { --columnGap: 0px; display: grid; grid-template-columns: repeat(3, minmax(0, 1fr)); gap: 3px; margin: 0 !important; }
.media-card .columns .column { width: auto !important; padding: 0 !important; flex: none; }
@media (max-width: 768px) { .media-card .columns.is-variable { grid-template-columns: minmax(0, 1fr); } }
/* Real-robot demonstrations grouped behind one switch. */
.demo-toggle { flex-wrap: wrap; margin-bottom: 18px; }
.demo-panel[hidden] { display: none; }
.demo-panel-title { margin: 0 0 16px; color: #334155; font-size: 1.15rem; font-weight: 500; line-height: 1.5; text-align: center; }
/* Real-robot demonstrations shown together: two cards side by side and one wide comparison card. */
#real-demos .container { max-width: 1180px; }
.demo-grid { display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 20px; }
.demo-card { overflow: hidden; margin: 0; border-radius: 16px; background: #fff; box-shadow: 0 0 0 1px rgba(15, 23, 42, .07), 0 20px 40px -28px rgba(15, 23, 42, .45); }
.demo-card--wide { grid-column: 1 / -1; }
.demo-card-clips { display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 3px; background: #0f172a; }
.demo-card-clips--pairs { gap: 3px 14px; background: #fff; }
.demo-card-clips--pairs .comparison-pair { gap: 3px; margin: 0; padding: 0; border: 0; background: #0f172a; }
.demo-card figure { position: relative; margin: 0; }
.demo-card .coopuq-video { border-radius: 0; box-shadow: none; }
.demo-card-caption { margin: 0; padding: 13px 18px 15px; background: linear-gradient(90deg, #eef4ff, #f3fbfa); color: #1e293b; font-size: 1.1rem; font-weight: 500; line-height: 1.4; text-align: center; }
.demo-card .clip-title { position: absolute; left: 10px; top: 10px; margin: 0; padding: 4px 12px; border-radius: 999px; background: rgba(15, 23, 42, .72); color: #fff; font-size: .82rem; font-weight: 600; }
.demo-card .clip-title--ours { background: rgba(37, 99, 235, .9); }
@media (max-width: 900px) { .demo-grid { grid-template-columns: minmax(0, 1fr); } .demo-card-clips--pairs { grid-template-columns: minmax(0, 1fr); } }
#scalability-results .robot-toggle-button { display: inline-flex; align-items: center; gap: 6px; padding: 5px 14px 5px 10px; }
#scalability-results .robot-toggle-button img { display: block; width: 24px; height: 24px; }
#scalability-results .robot-toggle-button.is-active { background: #eff6ff; color: #1d4ed8; box-shadow: 0 0 0 1px #2563eb; }
.navigation-group[hidden] { display: none; }
#simulation .scenario-toggle { flex-wrap: wrap; }
#simulation .navigation-legend { position: static; margin-bottom: 1.25rem; padding: .25rem .5rem .9rem; }
#real-demos { padding-top: 1.5rem; }
#forecast-examples .container { max-width: 1040px; }
.forecast-grid--clips { gap: 18px; }
.forecast-grid--clips .forecast-card-body { padding: 10px; }
.forecast-grid--clips .forecast-clip { grid-template-columns: clamp(46px, 12cqw, 80px) minmax(0, 1fr); gap: 3px 4px; }
/* Simulation comparisons at a smaller size. */
#simulation .navigation-group, #simulation .navigation-legend { max-width: 780px; margin-inline: auto; }
#simulation .navigation-group { padding: 14px 16px 16px; border-radius: 14px; }
#simulation .navigation-group h3 { margin-bottom: .6rem; font-size: 1rem; }
#simulation .navigation-demo { padding: 10px 12px 12px; border-radius: 10px; }
#simulation .navigation-demo + .navigation-demo { margin-top: .75rem; }
#simulation .navigation-demo figcaption { margin-bottom: .35rem; font-size: .9rem; }
#simulation .robot-count-label { min-width: 4.6rem; padding: 2px 8px; }
#simulation .robot-count img { width: 18px; height: 18px; }
#simulation .navigation-methods { margin-bottom: .3rem; font-size: .92rem; }
#simulation .navigation-methods span { padding: 2px 0 4px; }
#simulation .navigation-legend { margin-bottom: .9rem; gap: .4rem 1rem; }
#simulation .navigation-group + .navigation-group { margin-top: 0; }
#simulation .navigation-legend li { font-size: .82rem; }
#simulation .navigation-legend svg { width: 18px; height: 18px; flex-basis: 18px; }
#simulation .coopuq-video { border-radius: 8px; }
/* Simulation cards: moderate spacing; the scenario name lives in the button. */
#simulation .navigation-group { padding: 22px; }
#simulation .navigation-group h3 { position: absolute; width: 1px; height: 1px; overflow: hidden; clip: rect(0, 0, 0, 0); white-space: nowrap; }
#simulation .navigation-demo { padding: 16px 18px 18px; }
#simulation .navigation-demo + .navigation-demo { margin-top: 24px; }
#simulation .navigation-demo figcaption { margin: 0 0 .75rem; }
#simulation .robot-count-label { min-width: 0; padding: 2px 10px; font-size: .88rem; }
#simulation .robot-count img { width: 18px; height: 18px; }
#simulation .navigation-methods { margin: 0 1.7% .6rem; font-size: .95rem; line-height: 1.4; }
#simulation .navigation-methods span { padding: 2px 0 5px; }
#simulation .navigation-legend { margin-bottom: 1.4rem; padding-bottom: 1rem; }
#simulation .scenario-toggle { margin-bottom: 16px; }
/* Simulation comparisons as one matrix per scenario: methods across the top, team size down the side. */
#simulation .navigation-group, #simulation .navigation-legend { max-width: 860px; }
#simulation .navigation-group { padding: 16px 18px 18px 10px; border: 1px solid #e3e8ef; background: #fff; box-shadow: 0 16px 36px -28px rgba(15, 23, 42, .4); }
.sim-head, .sim-row { display: grid; grid-template-columns: 74px minmax(0, 1fr); align-items: center; margin: 0; }
#simulation .sim-head .navigation-methods { margin: 0 1.7% 8px; font-size: 1rem; }
.sim-row + .sim-row { margin-top: 8px; }
#simulation .sim-row .sim-row-label { display: flex; flex-direction: column; align-items: center; gap: 2px; margin: 0; color: #334155; font-size: .95rem; font-weight: 600; white-space: nowrap; }
.sim-row-label img { display: block; width: 26px; height: 26px; }
#simulation .sim-row .coopuq-video { border-radius: 8px; box-shadow: 0 0 0 1px rgba(15, 23, 42, .08); }
@media (max-width: 600px) { .sim-head, .sim-row { grid-template-columns: 44px minmax(0, 1fr); } .sim-row-label img { width: 20px; height: 20px; } }
/* Navigation table: smaller, with one clearly separated band per cooperation type. */
#navigation-results .results-card { max-width: 980px; }
#navigation-results .results-table { min-width: 820px; font-size: 13px; }
#navigation-results .results-table th, #navigation-results .results-table td { padding: 4px 6px; }
#navigation-results .results-table .metric-value { font-size: 13px; }
#navigation-results .results-table .metric-std { font-size: 10.5px; }
#navigation-results .results-table thead th { padding: 7px 6px; font-size: 13px; }
#navigation-results .results-table .header-detail { font-size: 10.5px; }
#navigation-results tbody tr { --coop: #64748b; --coop-bg: #f8fafc; }
#navigation-results tbody tr.coop--late { --coop: #b45309; --coop-bg: #fffaf0; }
#navigation-results tbody tr.coop--early { --coop: #15803d; --coop-bg: #f3fbf5; }
#navigation-results tbody tr.coop--middle { --coop: #1d4ed8; --coop-bg: #f2f6ff; }
#navigation-results tbody tr > * { background: var(--coop-bg); border-bottom: 1px solid #fff; }
#navigation-results tbody tr.coop-start > * { border-top: 6px solid #fff; }
#navigation-results tbody tr.coop-start:first-child > * { border-top: 0; }
#navigation-results tbody tr.coop-sub > :not(.coop-cell) { border-top: 1px dashed #cbd5e1; }
#navigation-results tbody td.coop-cell { position: static; width: 34px; padding: 4px 2px; border-left: 4px solid var(--coop); background: var(--coop-bg); color: var(--coop); font-size: 12px; font-weight: 700; letter-spacing: .02em; text-align: center; vertical-align: middle; }
#navigation-results tbody td.coop-cell span { display: inline-block; writing-mode: vertical-rl; transform: rotate(180deg); white-space: nowrap; }
#navigation-results tbody th { position: static; padding-left: 10px; font-weight: 500; }
#navigation-results tbody tr.result-ours > :not(.coop-cell) { background: #dbe8ff; font-weight: 700; }
#navigation-results tbody tr.result-ours th { color: #1d4ed8; }
#navigation-results .results-table thead tr:first-child th:first-child { width: 34px; padding: 0; font-size: 0; }
#navigation-results tbody td.coop-cell { width: 96px; padding: 4px 8px 4px 10px; font-size: 12.5px; line-height: 1.25; text-align: left; white-space: normal; }
#navigation-results tbody td.coop-cell span { writing-mode: horizontal-tb; transform: none; white-space: normal; }
#navigation-results .results-table thead tr:first-child th:first-child { width: 96px; padding: 7px 6px 7px 14px; font-size: 13px; text-align: left; }
#navigation-results .results-card { max-width: 1080px; }
#navigation-results .results-table th, #navigation-results .results-table td { padding: 4px 5px; }
#navigation-results tbody td.coop-cell { width: 108px; }
#navigation-results .results-table thead tr:first-child th:first-child { width: 108px; }
#navigation-results .results-table .metric-std { margin-left: 2px; }
/* Forecast examples: one large clip at a time, chosen by scene and communication condition. */
#forecast-examples .container { max-width: 980px; }
.forecast-grid--single { grid-template-columns: minmax(0, 1fr); }
.forecast-card[hidden] { display: none; }
.cond-toggle { margin-bottom: 16px; }
.cond-toggle .robot-toggle-button { padding: 4px 12px; border-radius: 8px; font-size: 13px; }
.cond-toggle .robot-toggle-button.is-active { border-color: #475569; background: #475569; }
.forecast-grid--single .forecast-card-body { padding: 14px 16px 16px 12px; }
.forecast-grid--single .forecast-clip { grid-template-columns: 96px minmax(0, 1fr); gap: 5px 8px; font-size: 13px; }
.forecast-grid--single .forecast-card-header h3 { font-size: 17px; }
.forecast-grid--single .forecast-card-header p { font-size: 14px; }
@media (max-width: 700px) { .forecast-grid--single .forecast-clip { grid-template-columns: 60px minmax(0, 1fr); font-size: 10px; } .forecast-grid--single { max-width: none; } }
.forecast-grid--single .forecast-card-header { display: none; }
#navigation-results tbody tr.coop--early { --coop: #1d4ed8; --coop-bg: #f2f6ff; }
#navigation-results tbody tr.coop--middle { --coop: #15803d; --coop-bg: #f1faf3; }
#navigation-results tbody tr.result-ours > :not(.coop-cell) { background: #d5efdb; }
#navigation-results tbody tr.result-ours th, #navigation-results tbody tr.result-ours .metric-best .metric-value { color: #166534; }
/* Only the middle-fusion band is saturated; the other cooperation bands stay pale. */
#navigation-results tbody tr.coop--none { --coop: #a3afc0; --coop-bg: #fafbfc; }
#navigation-results tbody tr.coop--late { --coop: #dcb382; --coop-bg: #fffdf8; }
#navigation-results tbody tr.coop--early { --coop: #9db6ea; --coop-bg: #f9fbff; }
#navigation-results tbody tr.coop--middle { --coop: #15803d; --coop-bg: #eef9f0; }
#navigation-results tbody tr:not(.coop--middle) td.coop-cell { font-weight: 600; }
/* Shifted-conditions switch: each condition lights up in its own colour. */
#ood-results .robot-toggle-button[data-scenario="unseen"] { --pick: #695193; }
#ood-results .robot-toggle-button[data-scenario="denser"] { --pick: #b45f1a; }
#ood-results .robot-toggle-button[data-scenario="rushing"] { --pick: #24634f; }
#ood-results .robot-toggle-button:hover { border-color: var(--pick); color: var(--pick); }
#ood-results .robot-toggle-button.is-active { border-color: var(--pick); background: var(--pick); color: #fff; }
/* The forecasting table uses the same cooperation bands as the navigation table. */
#forecast-results tbody tr { --coop: #64748b; --coop-bg: #f8fafc; }
#forecast-results tbody tr.coop--late { --coop: #b45309; --coop-bg: #fffaf0; }
#forecast-results tbody tr.coop--early { --coop: #15803d; --coop-bg: #f3fbf5; }
#forecast-results tbody tr.coop--middle { --coop: #1d4ed8; --coop-bg: #f2f6ff; }
#forecast-results tbody tr > * { background: var(--coop-bg); border-bottom: 1px solid #fff; }
#forecast-results tbody tr.coop-start > * { border-top: 6px solid #fff; }
#forecast-results tbody tr.coop-start:first-child > * { border-top: 0; }
#forecast-results tbody tr.coop-sub > :not(.coop-cell) { border-top: 1px dashed #cbd5e1; }
#forecast-results tbody td.coop-cell { position: static; width: 34px; padding: 4px 2px; border-left: 4px solid var(--coop); background: var(--coop-bg); color: var(--coop); font-size: 12px; font-weight: 700; letter-spacing: .02em; text-align: center; vertical-align: middle; }
#forecast-results tbody td.coop-cell span { display: inline-block; writing-mode: vertical-rl; transform: rotate(180deg); white-space: nowrap; }
#forecast-results tbody th { position: static; padding-left: 10px; font-weight: 500; }
#forecast-results tbody tr.result-ours > :not(.coop-cell) { background: #dbe8ff; font-weight: 700; }
#forecast-results tbody tr.result-ours th { color: #1d4ed8; }
#forecast-results .results-table thead tr:first-child th:first-child { width: 34px; padding: 0; font-size: 0; }
#forecast-results tbody td.coop-cell { width: 96px; padding: 4px 8px 4px 10px; font-size: 12.5px; line-height: 1.25; text-align: left; white-space: normal; }
#forecast-results tbody td.coop-cell span { writing-mode: horizontal-tb; transform: none; white-space: normal; }
#forecast-results .results-table thead tr:first-child th:first-child { width: 96px; padding: 7px 6px 7px 14px; font-size: 13px; text-align: left; }
#forecast-results tbody td.coop-cell { width: 108px; }
#forecast-results .results-table thead tr:first-child th:first-child { width: 108px; }
#forecast-results tbody tr.coop--early { --coop: #1d4ed8; --coop-bg: #f2f6ff; }
#forecast-results tbody tr.coop--middle { --coop: #15803d; --coop-bg: #f1faf3; }
#forecast-results tbody tr.result-ours > :not(.coop-cell) { background: #d5efdb; }
#forecast-results tbody tr.result-ours th, #forecast-results tbody tr.result-ours .metric-best .metric-value { color: #166534; }
#forecast-results tbody tr.coop--none { --coop: #a3afc0; --coop-bg: #fafbfc; }
#forecast-results tbody tr.coop--late { --coop: #dcb382; --coop-bg: #fffdf8; }
#forecast-results tbody tr.coop--early { --coop: #9db6ea; --coop-bg: #f9fbff; }
#forecast-results tbody tr.coop--middle { --coop: #15803d; --coop-bg: #eef9f0; }
#forecast-results tbody tr:not(.coop--middle) td.coop-cell { font-weight: 600; }
#forecast-results tbody tr.result-ours > td.cell-merged, #forecast-results tbody tr.result-ours > th { background: #d5efdb; }
#forecast-results tbody tr.coop-start ~ tr:not(.coop-start) > * { border-top: 0; }
#forecast-results .results-table tbody .metric-best .metric-value, #forecast-results .results-table tbody tr.result-ours .metric-value { color: #166534; }
/* Column charts: fusion groups in the same colours. */
.vbar-group { --coop: #a3afc0; --coop-bg: #fafbfc; margin: 0 3px; padding: 8px 8px 6px; border-radius: 10px; background: var(--coop-bg); }
.vbar-group + .vbar-group { border-left: 0; }
.vbar-group--late { --coop: #dcb382; --coop-bg: #fffdf8; }
.vbar-group--early { --coop: #9db6ea; --coop-bg: #f9fbff; }
.vbar-group--middle { --coop: #15803d; --coop-bg: #eef9f0; }
.vbar-group .vbar-group-name { border-top-color: var(--coop); color: var(--coop); }
.vbar-group--none .vbar-group-name { color: #7f8ca0; }
.vbar-group--late .vbar-group-name { color: #c08a45; }
.vbar-group--early .vbar-group-name { color: #6f8fd8; }
.vbar--ours .vbar-stack { box-shadow: 0 0 0 2px #15803d; }
.vbar--ours .vbar-name { color: #166534; }
#forecast-examples .container { max-width: 1040px; }
/* The condition name is already on the selected button. */
.vbar-chart > header { position: absolute; width: 1px; height: 1px; overflow: hidden; clip: rect(0, 0, 0, 0); padding: 0; border: 0; }
.vbar-chart { border-color: #e3e8ef; }
/* Cooperation labels: readable text on the pale bands. */
#navigation-results tbody tr.coop--none td.coop-cell, #forecast-results tbody tr.coop--none td.coop-cell, .vbar-group--none .vbar-group-name { color: #475569; }
#navigation-results tbody tr.coop--late td.coop-cell, #forecast-results tbody tr.coop--late td.coop-cell, .vbar-group--late .vbar-group-name { color: #92580f; }
#navigation-results tbody tr.coop--early td.coop-cell, #forecast-results tbody tr.coop--early td.coop-cell, .vbar-group--early .vbar-group-name { color: #2f55b0; }
/* In the column charts the middle-fusion group is not tinted more than the others. */
.vbar-group--middle { --coop: #8fc7a0; --coop-bg: #f9fcfa; }
.vbar-group--middle .vbar-group-name { color: #166534; }
/* Forecast examples as one matrix: scenes down the side, the two communication conditions across, labels written once. */
.fc-matrix { overflow: hidden; border: 1px solid #e3e8ef; border-radius: 14px; background: #fff; }
.fc-row { display: grid; grid-template-columns: 104px 92px minmax(0, 1fr) minmax(0, 1fr); gap: 0 12px; align-items: stretch; padding: 8px 14px 8px 0; }
.fc-row + .fc-row { border-top: 1px solid #edf1f6; }
.fc-row--head { align-items: end; padding-top: 12px; padding-bottom: 6px; background: #f5f8fc; }
.fc-cond { margin: 0 0 6px; color: #1e293b; font-size: 14px; font-weight: 600; text-align: center; }
.fc-groups, .fc-times { display: grid; text-align: center; font-size: 11.5px; line-height: 1.3; }
.fc-groups { grid-template-columns: 3fr 2fr 2fr; color: #334155; font-weight: 600; }
.fc-groups span { margin: 0 3px; padding-bottom: 2px; border-bottom: 1px solid #cbd5e1; }
.fc-times { grid-template-columns: repeat(7, 1fr); margin-top: 2px; color: #64748b; }
.fc-scene { display: flex; align-items: center; margin: 0; padding: 0 8px 0 12px; border-left: 4px solid var(--scenario-heading); background: var(--scenario-background); color: var(--scenario-heading); font-size: 13.5px; font-weight: 600; line-height: 1.3; }
.fc-methods { display: grid; grid-template-rows: repeat(3, 1fr); align-items: center; color: #475569; font-size: 12px; line-height: 1.25; }
.fc-ours { color: #166534; font-weight: 700; }
.fc-clip { position: relative; margin: 0; }
.fc-clip .forecast-clip-video { display: block; width: 100%; height: auto; aspect-ratio: 1596 / 690; background: #fff; }
.fc-tag { position: absolute; top: 4px; right: 4px; padding: 2px 9px; border-radius: 999px; background: rgba(15, 23, 42, .78); color: #fff; font-size: 11px; font-weight: 600; }
@media (max-width: 900px) { .fc-matrix { overflow-x: auto; } .fc-row { min-width: 860px; } }
/* Forecast matrix typography. */
.fc-row { grid-template-columns: 118px 104px minmax(0, 1fr) minmax(0, 1fr); gap: 0 14px; padding: 10px 16px 10px 0; }
.fc-row--head { padding-top: 14px; padding-bottom: 8px; }
.fc-cond { display: inline-block; margin: 0 0 8px; padding: 3px 14px; border-radius: 999px; background: #e7eef8; color: #1e3a5f; font-size: 13.5px; font-weight: 600; letter-spacing: .01em; }
.fc-colhead { text-align: center; }
.fc-groups { font-size: 10.5px; font-weight: 700; letter-spacing: .09em; text-transform: uppercase; color: #475569; }
.fc-groups span { padding-bottom: 4px; border-bottom: 2px solid #cbd5e1; }
.fc-times { margin-top: 4px; color: #64748b; font-size: 12px; font-variant-numeric: tabular-nums; }
.fc-times i { font-family: Georgia, "Times New Roman", serif; font-size: 13px; }
.fc-scene { padding: 0 10px 0 14px; border-left-width: 5px; border-radius: 0 8px 8px 0; font-size: 15px; font-weight: 700; letter-spacing: -.005em; line-height: 1.25; }
.fc-methods { justify-items: end; padding-right: 2px; color: #475569; font-size: 12.5px; font-weight: 500; text-align: right; }
.fc-methods span { padding: 2px 0; }
.fc-ours { display: inline-flex; align-items: center; gap: 6px; padding: 2px 10px !important; border-radius: 999px; background: #dcf2e1; color: #166534; font-weight: 700; }
.fc-tag { top: 6px; right: 6px; padding: 3px 11px; background: #334155; font-size: 11.5px; letter-spacing: .01em; }
/* Condition tag centred in the two empty ground-truth cells. */
.fc-tag { top: 16.667%; right: 14.286%; transform: translate(50%, -50%); padding: 2px 9px; font-size: 11px; white-space: nowrap; }
/* Real-robot results: averages only, one pair of columns per pedestrian count. */
.vbar-charts--real { max-width: 640px; }
.vbar-group--real { --coop: #cbd5e1; --coop-bg: #fafbfc; }
.vbar-group--real .vbar-group-name { color: #334155; }
.vbar-group--real .vbar { max-width: 86px; }
.vbar-group--real .vbar-stack { max-width: 52px; }
.real-note { max-width: 640px !important; margin-top: 12px !important; text-align: center; }
/* Middle-fusion group highlighted again in the shifted-conditions charts. */
#ood-results .vbar-group--middle { --coop: #15803d; --coop-bg: #e6f6ea; box-shadow: inset 0 0 0 1px #b7e0c1; }
/* Navigation table aligned with the other 1040 px blocks. */
#navigation-results .results-card { max-width: 1040px; }
#navigation-results .results-table { min-width: 0; }
#navigation-results .results-table th, #navigation-results .results-table td { padding: 4px 3px; }
#navigation-results tbody td.coop-cell, #navigation-results .results-table thead tr:first-child th:first-child { width: 96px; }
#navigation-results .results-table .metric-std { margin-left: 1px; font-size: 10px; }
/* All result tables share the 1040 px width. */
.results-card, #scalability-results .results-card, #forecast-results .results-card { max-width: 1040px; }
#scalability-results .results-table, #forecast-results .results-table { min-width: 0; }
#scalability-results .results-table th, #scalability-results .results-table td { padding: 5px 4px; }
#scalability-results .results-table, #scalability-results .results-table .paired-metric { font-size: 13px; }
#scalability-results .results-table .header-detail { font-size: 10.5px; }
#scalability-note { max-width: 1040px; margin-top: 12px; text-align: center; }
.real-note { max-width: 1040px !important; text-align: center; }
@media (min-width: 900px) { .real-note { white-space: nowrap; } }
/* Scalability table, narrower: ID above OOD in each cell. */
#scalability-results .results-card, #scalability-note { max-width: 820px; }
#scalability-results .results-table th, #scalability-results .results-table td { padding: 5px 6px; }
#scalability-results .results-table .paired-metric > span:not(.pair-separator) { display: block; line-height: 1.3; }
#scalability-results .results-table .paired-metric .pair-separator { display: none; }
#scalability-results .results-table .paired-metric > span:last-child { color: #64748b; font-size: 12px; font-weight: 400; }
/* Shifted-conditions chart, narrower. */
#ood-results .vbar-charts { max-width: 820px; }
#ood-results .vbar-groups { padding: 12px 8px 8px; }
#ood-results .vbar-group { min-width: calc(var(--bars) * 40px); margin: 0 2px; padding: 8px 5px 6px; }
#ood-results .vbars { gap: 4px; }
#ood-results .vbar-stack { max-width: 34px; }
#ood-results .vbar-name { font-size: 10.5px; }
/* Institution logos, slightly larger. */
.institution-logos { gap: 14px 32px; margin: 18px auto 18px; }
.institution-logo--georgia-tech { --logo-width: 154px; }
.institution-logo--ucr { --logo-width: 110px; }
.institution-logo--michigan { --logo-width: 220px; }
.institution-logo--georgia { --logo-width: 110px; }
.institution-logo--nyu { --logo-width: 168px; }
.institution-logo--kaist { --logo-width: 115px; }
.institution-logos { gap: 16px 36px; }
.institution-logo--georgia-tech { --logo-width: 176px; }
.institution-logo--ucr { --logo-width: 126px; }
.institution-logo--michigan { --logo-width: 252px; }
.institution-logo--georgia { --logo-width: 126px; }
.institution-logo--nyu { --logo-width: 192px; }
.institution-logo--kaist { --logo-width: 132px; }
/* Forecast and navigation tables, narrower: the deviation sits under its value. */
#navigation-results .results-card, #forecast-results .results-card { max-width: 860px; }
#navigation-results .results-table .metric-std, #forecast-results .results-table .metric-std { display: block; margin: 0; font-size: 10px; line-height: 1.1; }
#navigation-results .results-table .metric-value, #forecast-results .results-table .metric-value { line-height: 1.25; }
#navigation-results .results-table th, #navigation-results .results-table td,
#forecast-results .results-table th, #forecast-results .results-table td { padding: 4px 6px; }
#forecast-results .results-table { font-size: 13px; }
#forecast-results .results-table .metric-value { font-size: 13px; }
#forecast-results .results-table thead th { padding: 7px 6px; font-size: 13px; }
#forecast-results .results-table .header-detail { font-size: 10.5px; }
#navigation-results .results-table tbody th, #navigation-results .results-table tbody td,
#forecast-results .results-table tbody th, #forecast-results .results-table tbody td { padding-block: 2px; }
/* Institution logos in two rows of three. */
.institution-logos { display: grid; grid-template-columns: repeat(3, auto); justify-content: center; justify-items: center; align-items: center; gap: 18px 48px; }
@media (max-width: 640px) { .institution-logos { grid-template-columns: repeat(2, auto); gap: 14px 24px; } .institution-logo img { max-width: 40vw; } }
/* Institution logos: three equal columns, each mark centred and optically balanced. */
.institution-logos { grid-template-columns: repeat(3, 270px); gap: 22px 24px; margin: 22px auto 20px; }
.publication-authors .institution-logo { width: 100%; height: 48px; }
.institution-logo--georgia-tech { --logo-width: 204px; }
.institution-logo--ucr { --logo-width: 138px; }
.institution-logo--michigan { --logo-width: 244px; }
.institution-logo--georgia { --logo-width: 144px; }
.institution-logo--nyu { --logo-width: 204px; }
.institution-logo--kaist { --logo-width: 140px; }
@media (max-width: 900px) { .institution-logos { grid-template-columns: repeat(3, minmax(0, 1fr)); gap: 16px 12px; } .institution-logo img { max-width: 100%; } }
@media (max-width: 640px) { .institution-logos { grid-template-columns: repeat(2, minmax(0, 1fr)); } }
/* Bold marks the best value in a column, not the whole CoopUQ row. */
.results-table tbody tr.result-ours > * { font-weight: 400; }
.results-table tbody tr.result-ours > th { font-weight: 700; }
#navigation-results tbody tr.result-ours > :not(.coop-cell), #forecast-results tbody tr.result-ours > :not(.coop-cell) { font-weight: 400; }
#navigation-results tbody tr.result-ours > th, #forecast-results tbody tr.result-ours > th { font-weight: 700; }
.results-table tbody .metric-best .metric-value { font-weight: 700; color: #166534; }
#forecast-results .results-table tbody tr.result-ours .metric-value { color: inherit; }
#forecast-results .results-table tbody .metric-best .metric-value { color: #166534; }
.results-table tbody tr.result-ours .metric-std { font-weight: 400; }
#navigation-results tbody tr.result-ours > th, #forecast-results tbody tr.result-ours > th, .results-table tbody tr.result-ours > th { font-weight: 700 !important; }
/* Forecast matrix, narrower. */
#forecast-examples .container { max-width: 860px; }
.fc-row { grid-template-columns: 96px 88px minmax(0, 1fr) minmax(0, 1fr); gap: 0 10px; padding: 8px 12px 8px 0; }
.fc-scene { padding: 0 6px 0 10px; font-size: 13.5px; }
.fc-methods { font-size: 11.5px; }
.fc-ours { padding: 2px 8px !important; }
.fc-cond { padding: 3px 10px; font-size: 12px; }
.fc-groups { font-size: 9.5px; letter-spacing: .06em; }
.fc-times { font-size: 10.5px; }
.fc-times i { font-size: 11.5px; }
.fc-tag { padding: 1px 7px; font-size: 10px; }
/* Institution logos, compact: tighter columns and rows. */
.institution-logos { grid-template-columns: repeat(3, 216px); gap: 8px 20px; margin: 14px auto 14px; }
.publication-authors .institution-logo { height: 42px; }
.institution-logo--georgia-tech { --logo-width: 176px; }
.institution-logo--ucr { --logo-width: 122px; }
.institution-logo--michigan { --logo-width: 212px; }
.institution-logo--georgia { --logo-width: 126px; }
.institution-logo--nyu { --logo-width: 178px; }
.institution-logo--kaist { --logo-width: 122px; }
/* Institution logos, tighter still: columns only as wide as their marks. */
.institution-logos { grid-template-columns: repeat(3, auto); gap: 4px 30px; margin: 10px auto 10px; }
.publication-authors .institution-logo { width: auto; height: 38px; }
.institution-logo--georgia-tech { --logo-width: 158px; }
.institution-logo--ucr { --logo-width: 110px; }
.institution-logo--michigan { --logo-width: 190px; }
.institution-logo--georgia { --logo-width: 112px; }
.institution-logo--nyu { --logo-width: 160px; }
.institution-logo--kaist { --logo-width: 108px; }
/* Institution logos: larger marks, same tight spacing. */
.institution-logos { gap: 6px 34px; margin: 12px auto 12px; }
.publication-authors .institution-logo { height: 50px; }
.institution-logo--georgia-tech { --logo-width: 206px; }
.institution-logo--ucr { --logo-width: 144px; }
.institution-logo--michigan { --logo-width: 248px; }
.institution-logo--georgia { --logo-width: 146px; }
.institution-logo--nyu { --logo-width: 208px; }
.institution-logo--kaist { --logo-width: 140px; }
/* Real-robot chart: no boxes; CoopUQ is marked by a soft glow behind its column. */
.vbar-charts--real .vbar-chart { overflow: visible; border: 0; background: none; }
.vbar-charts--real .vbar-groups { overflow: visible; }
.vbar-group--real { background: none; }
.vbar-group--real .vbar-group-name { border-top-color: #e2e8f0; }
.vbar-group--real .vbar--ours { position: relative; isolation: isolate; }
.vbar-group--real .vbar--ours .vbar-stack { box-shadow: none; }
.vbar-group--real .vbar--ours::before { content: ""; position: absolute; inset: -6px -14px 14px; z-index: -1; border-radius: 40%; background: radial-gradient(ellipse at center, rgba(34, 197, 94, .38), rgba(34, 197, 94, .16) 55%, transparent 75%); filter: blur(12px); }
/* Institution logos: same size, minimal gaps. */
.institution-logos { gap: 0 18px; margin: 6px auto 6px; }
.publication-authors .institution-logo { height: 44px; }
/* Institution logos: two centred rows with the same gap between neighbours. */
.institution-logos { display: flex; flex-wrap: wrap; justify-content: center; align-items: center; gap: 12px 30px; margin: 10px auto 10px; }
.logo-break { flex-basis: 100%; height: 0; margin: 0; }
.publication-authors .institution-logo { width: auto; height: auto; }
@media (max-width: 640px) { .logo-break { display: none; } }
/* Title wordmark: one rich blue instead of the blue-to-teal gradient. */
.coopuq-header .publication-title span[style*="color"] { background: none; -webkit-background-clip: border-box; background-clip: border-box; color: #1d4ed8 !important; }
/* Stronger glow behind the CoopUQ columns. */
.vbar-group--real .vbar--ours::before { inset: -10px -18px 10px; background: radial-gradient(ellipse at center, rgba(22, 163, 74, .62), rgba(34, 197, 94, .32) 55%, transparent 78%); filter: blur(14px); }
/* Real-robot chart highlighted like the shifted-conditions chart: pale group blocks, green block behind CoopUQ. */
.vbar-group--real { background: #fafbfc; }
.vbar-group--real .vbar--ours::before { content: none; }
.vbar-group--real .vbar--ours { margin: -6px 0 -4px; padding: 6px 8px 4px; border-radius: 10px; background: #e6f6ea; box-shadow: inset 0 0 0 1px #b7e0c1; }
.vbar-group--real .vbar { max-width: 96px; }
/* More room between the institution logos and the lab line. */
.publication-authors .author-block[style*="display: flex"] { margin-top: 20px; }
/* Real-robot chart grouped by method (1 -> 3 pedestrians), no highlight. */
.vbar-group--real { background: #fafbfc; }
.vbar-group--real .vbar { margin: 0; padding: 0; background: none; box-shadow: none; }
.vbar-group--real .vbar-group-name { font-weight: 700; color: #1e293b; }