/* RAYA additions to the Nerfies project-page template. CC BY-SA 4.0. */
:root{--ink:#363636;--muted:#707070;--green:#009E73;--line:#dedede}
html{scroll-behavior:smooth;scroll-padding-top:24px}body{color:#4a4a4a;line-height:1.6}a{color:#209cee}a:hover{color:#1678b4}button,input{font:inherit}button{cursor:pointer;color:inherit}a:focus-visible,button:focus-visible,input:focus-visible{outline:3px solid #209cee;outline-offset:4px}.skip{position:fixed;top:-60px;left:15px;z-index:10;background:white;padding:10px}.skip:focus{top:10px}
.publication-header .hero-body{padding-top:4rem;padding-bottom:1.8rem}.publication-title{font-weight:700!important;line-height:1.13!important;letter-spacing:-1.2px;font-size:46px!important}.publication-authors{margin:1.4rem 0 .65rem}.publication-links{margin-top:14px}.publication-links .button{margin-inline:2px}.publication-links svg{width:18px;height:18px;fill:none;stroke:currentColor;stroke-width:1.8;stroke-linejoin:round;stroke-linecap:round}.raya-name{font-variant:small-caps}.teaser .hero-body{padding:0 2rem 2.7rem}.framework-figure{display:block;width:100%;max-width:850px;margin:0 auto 1.1rem}.teaser .subtitle{font-size:20px;line-height:1.5;max-width:880px;margin:auto}.section{padding:3rem 1.5rem}.abstract-section{background:#f5f5f5}.content p{line-height:1.65}.title.is-3{margin-bottom:1.5rem}.method-columns{margin-top:1.25rem}.method-columns p{font-size:15px;line-height:1.7}.method-columns .column{padding-inline:1.25rem}.experiments-section{background:#fafafa}.experiment-container{max-width:1120px!important}.experiment-intro{max-width:960px;margin:0 auto 1.8rem}.research-figure{margin:2.3rem 0 3rem}.research-figure img{display:block;width:100%;max-width:850px;margin:0 auto 1rem}.research-figure figcaption{font-size:15px;line-height:1.65;text-align:justify}.hardware-figure img{max-width:800px}.research-table{font-size:15px}.research-table caption{text-align:left;font-size:13px;color:#777;padding-bottom:12px}.research-table thead th{border-bottom:2px solid #555}.research-table th:not(:first-child),.research-table td{text-align:center}.research-table tbody th{font-weight:400}.raya-row{background:#f0f5ee}.raya-row th{font-weight:600!important}.table-container{margin:1.5rem 0}.footer{padding:3rem 1.5rem}.footer .content{font-size:15px}.fine-print{font-size:12px;color:#737373;line-height:1.6;margin-top:15px}.lab .tabs{margin-bottom:0;overflow:visible;white-space:normal}.lab .tabs button{line-height:1.5}.lab .method-card{box-shadow:none}.lab .method-name{line-height:1.4}.lab .method-header{height:70px}.lab .method-card canvas{height:230px}.lab .intensity{overflow:visible}.lab .lab-insight p{line-height:1.6}.lab .method-status{min-height:45px}
.lab{background:#fafbf7;border:1px solid #d7dfd1;border-radius:12px;box-shadow:0 10px 30px #344b2510;overflow:hidden}.lab-top{padding:19px 23px;display:flex;justify-content:space-between;align-items:center;border-bottom:1px solid var(--line)}.tabs{display:flex;gap:3px;background:#eef1e9;border-radius:6px;padding:4px}.tabs button{border:0;background:transparent;font-size:12px;padding:8px 17px;border-radius:4px;color:var(--muted)}.tabs .active{background:#fff;box-shadow:0 1px 5px #182e1810;color:var(--ink)}.lab-actions{display:flex;align-items:center;gap:8px}.demo-tag{font-size:8px;letter-spacing:1px;color:#7c8577;margin-right:13px}.icon-button{border:1px solid var(--line);background:transparent;width:30px;height:30px;border-radius:5px;font-size:17px;line-height:1}.icon-button:hover{background:#e2e9dc}.control-row{display:flex;align-items:center;gap:38px;padding:28px 25px}.control-title{min-width:220px}.control-title label{font-size:13px;font-weight:550}.control-title p{font-size:10px;color:var(--muted);margin:3px 0}.slider-wrap{flex:1}input[type=range]{width:100%;appearance:none;height:5px;border-radius:5px;background:linear-gradient(to right,var(--green) 38%,#dce3d5 38%);cursor:pointer;display:block;margin:12px 0 15px}input[type=range]::-webkit-slider-thumb{appearance:none;width:19px;height:19px;background:var(--green);border:4px solid #fff;border-radius:50%;box-shadow:0 0 0 1px #b7c8ae,0 2px 5px #25341d30}input[type=range]::-moz-range-thumb{width:12px;height:12px;background:var(--green);border:4px solid #fff;border-radius:50%}.range-labels{display:flex;justify-content:space-between;font-size:9px;color:#89917f}.intensity{min-width:125px;text-align:right;line-height:1.2}.intensity output{font-family:Manrope,sans-serif;font-size:31px;letter-spacing:-1px}.intensity>span{font-size:11px;color:var(--muted)}.intensity small{display:block;font-size:9px;margin-top:5px;color:var(--green)}.method-grid{padding:0 20px;display:grid;grid-template-columns:repeat(4,minmax(0,1fr));gap:12px}.method-card{border:1px solid #dfe3d9;border-radius:7px;overflow:hidden;background:#f3f5ed;position:relative}.method-card.raya{border-color:#639477;background:#ecf3e5}.method-header{padding:15px 13px 0;min-height:64px}.method-name{font-weight:550;font-size:12px;display:flex;align-items:center;gap:6px}.method-name .dot{width:6px;height:6px;border-radius:50%;background:var(--method)}.method-name b{margin-left:auto;font-size:7px;letter-spacing:1px;color:var(--green);background:#dbe9d5;border-radius:3px;padding:2px 5px}.method-header>p{font-size:9px;margin:4px 0;color:var(--muted)}.method-card canvas{display:block;width:100%;height:230px}.method-status{border-top:1px solid #dce3d3;background:#ffffff88;padding:11px 13px;display:flex;justify-content:space-between;align-items:center;font-size:10px;gap:5px}.method-status strong{font-size:13px;font-weight:550}.status-label{color:var(--green);font-size:9px}.status-label.loss{color:#986342}.lab-insight{display:flex;align-items:center;gap:12px;padding:18px 23px}.insight-mark{font-size:25px;color:var(--green)}.lab-insight p{font-size:11px;color:#63705e;margin:0;flex:1}.lab-insight button{border:0;background:transparent;font-size:10px;white-space:nowrap;color:var(--green);font-weight:600}.fine-print{font-size:10px;color:#788271;line-height:1.7;margin-top:17px}.how-to{display:flex;justify-content:center;gap:55px;margin-top:32px;font-size:11px;color:#98a58e}.how-to strong{margin-left:8px;font-weight:450;color:#66715f}
@media(max-width:900px){.publication-title{font-size:40px!important}.desktop-break{display:none}.method-grid{grid-template-columns:repeat(2,minmax(0,1fr));gap:12px}.control-row{gap:20px}.control-title{min-width:190px}.method-name{font-size:11px}.method-status{padding-inline:8px}}
@media(max-width:750px){.publication-header .hero-body{padding:2.5rem 1.2rem 1.5rem}.publication-title{font-size:33px!important;letter-spacing:-.6px}.publication-authors{font-size:18px!important}.publication-links .button{font-size:13px}.teaser .hero-body{padding:0 1rem 2rem}.teaser .subtitle{font-size:17px}.section{padding:2.25rem 1.1rem}.title.is-3{font-size:26px}.abstract-section .has-text-justified{text-align:left!important}.research-figure figcaption{text-align:left;font-size:14px}.method-columns .column{padding-inline:.75rem}.lab-top{padding:12px;gap:8px}.tabs button{padding:7px 9px;font-size:11px}.demo-tag{display:none}.lab-actions{gap:5px}.control-row{flex-wrap:wrap;padding:18px 14px;gap:12px}.control-title{flex:1;min-width:0}.control-title label{font-size:12px}.control-title p{font-size:10px}.intensity{order:1;min-width:83px}.intensity output{font-size:27px}.slider-wrap{order:2;flex-basis:100%}.method-grid{grid-template-columns:repeat(2,minmax(0,1fr));padding:0 10px;gap:9px}.method-header{padding:12px 9px 0}.method-name{font-size:11px}.method-header>p{font-size:9px}.method-status{flex-wrap:wrap;font-size:9px;padding:8px}.method-status strong{font-size:12px}.lab .method-card canvas{height:185px}.lab-insight{padding:14px;flex-wrap:wrap}.lab-insight p{font-size:11px}.lab-insight button{margin-left:28px;padding:0}.fine-print{font-size:11px}.research-table{font-size:12px}.research-table td,.research-table th{padding:10px 6px}.footer .content{font-size:13px}}
@media(prefers-reduced-motion:reduce){html{scroll-behavior:auto}*{animation:none!important;transition:none!important}}

/* Match the paper's \method styling and public author block. */
.raya-name{color:#009E73;font-weight:700;font-variant:normal;margin-inline-end:.2em}
.publication-header .container.is-max-desktop{max-width:1500px!important;width:100%}
.publication-title{font-size:clamp(25px,2.5vw,40px)!important;letter-spacing:-.8px;white-space:nowrap}
.publication-authors{display:flex;flex-wrap:wrap;justify-content:center;gap:0 .35em;margin:1.5rem 0 .45rem}
.publication-authors sup,.publication-affiliations sup{font-size:.7em;margin-left:.1em}
.publication-affiliations{display:flex;flex-wrap:wrap;justify-content:center;gap:0 1.5rem;font-family:'Google Sans',sans-serif;font-size:18px}
.publication-links .icon img{width:18px;height:18px;filter:brightness(0) invert(1)}
.publication-links [aria-disabled="true"]{cursor:default}
@media(max-width:1023px){.publication-title{white-space:normal;font-size:36px!important;line-height:1.2!important}}
@media(max-width:750px){.publication-title{font-size:30px!important}.publication-authors{font-size:17px!important;gap:.2rem .4rem}.publication-affiliations{font-size:16px;gap:.2rem 1rem}}

/* Give the supplied overview figure more room at the top of the page. */
.teaser .container.is-max-desktop{max-width:1184px!important;width:100%}
.framework-figure{max-width:1120px;height:auto}

/* Keep each metric header centered over its values; override Bulma's default alignment. */
.research-table{table-layout:fixed}
.research-table .method-column{width:50%}
.research-table .result-column{width:25%}
.table.research-table th,.table.research-table td{vertical-align:middle;padding:12px 16px}
.table.research-table th:first-child{text-align:left}
.table.research-table th:not(:first-child),.table.research-table td{text-align:center}
.table.research-table td{font-variant-numeric:tabular-nums}
.lab .method-header{height:85px}
@media(max-width:750px){.table.research-table th,.table.research-table td{padding:10px 6px}.research-table .method-column{width:46%}.research-table .result-column{width:27%}.lab .method-header{height:95px}}

/* Clear section boundaries while retaining the academic project-page layout. */
main > .section{padding-top:4rem;padding-bottom:4rem;border-top:1px solid #e3e5e4}
main > .section > .container > .title.is-3{margin-bottom:2rem}
.footer{border-top:1px solid #e3e5e4}
@media(max-width:750px){main > .section{padding-top:3rem;padding-bottom:3rem}main > .section > .container > .title.is-3{margin-bottom:1.5rem}}

/* Separate the paper heading, author details, resources, and overview figure. */
.publication-authors{margin-top:2.25rem;margin-bottom:.85rem}
.publication-affiliations{margin-bottom:.5rem}
.publication-links{display:flex;flex-wrap:wrap;justify-content:center;gap:.75rem;margin-top:1.6rem}
.publication-links .button{margin:0}
.publication-header .hero-body{padding-bottom:3rem}
@media(max-width:750px){
 .publication-authors{margin-top:1.75rem;margin-bottom:.8rem}
 .publication-links{gap:.6rem;margin-top:1.4rem}
 .publication-header .hero-body{padding-bottom:2.5rem}
}

/* Increase the title and author names while preserving the desktop title line. */
.publication-title{font-size:clamp(28px,2.9vw,46px)!important}
.publication-authors{font-size:24px!important}
@media(max-width:1023px){.publication-title{font-size:40px!important}.publication-authors{font-size:22px!important}}
@media(max-width:750px){.publication-title{font-size:34px!important}.publication-authors{font-size:20px!important}}

.publication-authors a{color:var(--green)!important;transition:color .15s ease}
.publication-authors a:hover,.publication-authors a:focus-visible{color:#006E50!important;text-decoration:none}

/* A quiet hardware-recovery backdrop gives the paper title a clear visual anchor. */
.publication-header{position:relative;isolation:isolate;overflow:hidden;min-height:590px;background:#092433}
.publication-background{position:absolute;inset:0;width:100%;height:100%;object-fit:cover;object-position:center 63%;z-index:-3;filter:saturate(.78) contrast(.92) brightness(.75);transform:scale(1.015)}
.publication-background-overlay{position:absolute;inset:0;z-index:-2;background:linear-gradient(112deg,rgba(5,24,39,.91),rgba(7,45,61,.78) 54%,rgba(0,77,85,.66))}
.publication-header .hero-body{display:flex;align-items:center;min-height:590px;padding:4.5rem 1.5rem!important}
.publication-header .column.has-text-centered{padding:2.6rem 2.8rem 2.8rem;text-shadow:0 2px 18px rgba(0,0,0,.62)}
.publication-title{max-width:1420px;margin-inline:auto!important;color:#fff!important;font-size:clamp(54px,4.65vw,72px)!important;line-height:1.06!important;letter-spacing:-2.1px!important;white-space:normal!important;text-wrap:balance}
.publication-title .raya-name{font-size:1.08em;margin-inline-end:.06em;text-shadow:0 2px 18px rgba(0,158,115,.35)}
.publication-header .publication-authors a{color:#22C997!important}.publication-header .publication-authors a:hover,.publication-header .publication-authors a:focus-visible{color:#71E6C3!important}
.publication-header .publication-authors,.publication-header .publication-authors sup{color:rgba(255,255,255,.9)}
.publication-header .publication-affiliations{color:rgba(255,255,255,.9)}
.publication-header .publication-links .button{background:rgba(13,27,37,.9);border:1px solid rgba(255,255,255,.3);box-shadow:0 4px 14px rgba(0,0,0,.18)}
.publication-header .publication-links .button:hover{background:#009E73;border-color:#009E73}
@media(max-width:1023px){
 .publication-header,.publication-header .hero-body{min-height:560px}
 .publication-title{font-size:clamp(45px,6vw,58px)!important;letter-spacing:-1.5px!important}
 .publication-header .column.has-text-centered{padding:2.3rem 2rem 2.5rem}
}
@media(max-width:750px){
 .publication-header,.publication-header .hero-body{min-height:610px}
 .publication-header .hero-body{padding:2.3rem 1rem!important}
 .publication-header .column.has-text-centered{padding:2rem 1rem 2.2rem;border-radius:11px}
 .publication-title{font-size:clamp(37px,10.5vw,46px)!important;line-height:1.08!important;letter-spacing:-1px!important}
 .publication-background{object-position:40% center}
}

/* Real recordings and the explicitly illustrative composite share a single experiment viewer. */
.video-lab{border:1px solid #d9dfdb;border-radius:10px;overflow:hidden;background:#fff}
.video-lab [hidden]{display:none!important}.video-lab button,.video-lab select{font:inherit}
.video-lab-toolbar{padding:18px 20px;display:flex;justify-content:space-between;gap:16px;align-items:center;border-bottom:1px solid #e0e4e1;background:#fafbf9}
.robot-tabs,.view-tabs{display:flex;gap:5px;flex-wrap:wrap}.video-lab-toolbar button{border:0;padding:9px 14px;border-radius:5px;background:transparent;font-size:13px;color:#68716a}
.robot-tabs button[aria-selected=true]{background:#e4eee8;color:#176348;font-weight:600}.view-tabs button[aria-pressed=true]{background:#343d39;color:white}
.scene-heading{display:flex;align-items:center;justify-content:space-between;gap:15px;padding:22px 24px}.scene-heading h3{font-size:18px;font-weight:600;line-height:1.3;margin-bottom:5px}.scene-heading p{font-size:12px;color:#777}.source-badge{font-size:10px;letter-spacing:.4px;background:#f7eee0;color:#8c602d;border:1px solid #e8d7bb;border-radius:4px;padding:5px 9px;white-space:nowrap}.source-badge.is-recorded{background:#e7f2ec;border-color:#c2dece;color:#236946}
.composite-stage{position:relative;aspect-ratio:1100/619;background:#23392e;overflow:hidden}.composite-stage canvas{display:block;width:100%;height:100%}.scene-watermark{position:absolute;top:16px;left:18px;padding:5px 9px;border-radius:4px;background:#12221edb;color:#e0ebe4;font-size:8px;letter-spacing:1px;pointer-events:none}.scene-legend{position:absolute;bottom:0;left:0;right:0;display:flex;justify-content:center;gap:23px;background:#101b1aeb;color:#fff;padding:14px;font-size:10px}.scene-legend>span{display:flex;align-items:center;gap:6px}.scene-legend i{width:7px;height:7px;display:inline-block;border-radius:50%}.scene-legend .raya-name{color:#009E73}
.disturbance-controls{display:grid;grid-template-columns:1fr 1.25fr 1.25fr;gap:28px;padding:25px 24px;border-bottom:1px solid #e5e8e4}.scenario-control{font-size:11px;color:#778176}.scenario-control select{display:block;max-width:100%;width:100%;padding:8px;border:1px solid #d5ddd4;border-radius:4px;background:#fff;color:#34443a;margin-top:7px;font-size:12px}.disturbance-control label{display:flex;justify-content:space-between;gap:8px;font-size:12px;font-weight:600}.disturbance-control output{font-size:11px;color:#54715f;font-weight:400}.disturbance-control input{background:linear-gradient(to right,#009E73 var(--amount,25%),#dce3d5 var(--amount,25%));margin:15px 0 10px}.slider-endpoints{display:flex;justify-content:space-between;color:#8a9387;font-size:9px}
.controller-status{display:grid;grid-template-columns:repeat(4,1fr);padding:18px 24px;gap:12px;background:#fcfdfb}.controller-status>div{border-left:2px solid #d5e1d7;padding-left:12px}.status-method{font-size:10px;display:block;min-height:30px;color:#697569}.controller-status strong{font-size:12px;font-weight:500;color:#268467}.controller-status .is-lost{color:#b0653e}
.illustration-transport{padding:16px 24px;display:flex;gap:10px;align-items:center;flex-wrap:wrap;border-top:1px solid #e5e8e4}.illustration-transport button,.recorded-transport button{background:white;border:1px solid #cad5cb;border-radius:4px;font-size:11px;padding:7px 11px;color:#32533f}.illustration-transport p{font-size:12px;color:#6a7669;flex-basis:100%;margin-top:4px}.illustration-transport button:last-of-type{margin-left:auto}.video-lab button:hover{filter:brightness(.92)}
.quad-recordings{display:grid;grid-template-columns:1fr 1fr;gap:3px;background:#18221e}.quad-recordings figure{margin:0;min-width:0}.quad-recordings figcaption{display:flex;justify-content:space-between;align-items:center;padding:13px 16px;background:#1f2c26;color:#fff;font-size:12px;gap:10px}.quad-recordings figcaption>span:last-child:not(.raya-name){font-size:9px;color:#b7cabe}.quad-recordings .raya-name{color:#009E73}.quad-recordings video,.car-recording video{width:100%;display:block;aspect-ratio:16/9;background:#101817;object-fit:contain}.car-recording{margin:0}.recorded-transport{display:flex;align-items:center;gap:12px;padding:20px 24px;border-bottom:1px solid #e5e8e4}.recorded-transport input{flex:1;min-width:80px;margin:0;background:#d1dfd6}.recorded-transport output{white-space:nowrap;font-size:11px;font-variant-numeric:tabular-nums}.recorded-transport button{white-space:nowrap}.speed-control select{padding:5px;border:1px solid #d5ddd4;border-radius:4px;background:white;font-size:11px}.recording-note,#media-error{padding:17px 24px;font-size:12px;color:#68746b}.visually-hidden{position:absolute;width:1px;height:1px;overflow:hidden;clip:rect(0,0,0,0);white-space:nowrap}#illustration-note{font-size:11px}
@media(max-width:750px){.video-lab-toolbar{padding:12px;flex-direction:column;align-items:stretch;gap:8px}.robot-tabs,.view-tabs{justify-content:center}.video-lab-toolbar button{font-size:11px;padding:8px 11px}.scene-heading{padding:17px 14px;flex-wrap:wrap}.scene-heading h3{font-size:16px}.scene-heading p{font-size:11px}.source-badge{font-size:9px}.composite-stage{aspect-ratio:1.25}.composite-stage canvas{object-fit:cover}.scene-watermark{font-size:6px;top:8px;left:8px;letter-spacing:.5px}.scene-legend{display:grid;grid-template-columns:1fr 1fr;gap:6px 12px;padding:10px;font-size:8px}.disturbance-controls{grid-template-columns:1fr 1fr;gap:18px 14px;padding:18px 14px}.scenario-control{grid-column:1/-1}.disturbance-control label{font-size:10px;flex-wrap:wrap}.disturbance-control output{font-size:10px}.controller-status{grid-template-columns:1fr 1fr;padding:16px 14px;gap:15px}.status-method{min-height:0;font-size:10px;margin-bottom:4px}.controller-status strong{font-size:11px}.illustration-transport{padding:14px;gap:8px}.illustration-transport button{font-size:10px;padding:6px 8px}.illustration-transport button:last-of-type{margin-left:0}.illustration-transport p{font-size:11px}.quad-recordings{grid-template-columns:1fr;gap:2px}.quad-recordings figcaption{font-size:11px;padding:10px 12px}.recorded-transport{padding:14px;gap:10px;flex-wrap:wrap}.recorded-transport input{order:5;flex-basis:100%;margin:10px 0}.recorded-transport button{font-size:10px;padding:6px 8px}.recorded-transport output{margin-left:auto;font-size:10px}.recording-note,#media-error{padding:14px;font-size:11px}}

.recording-links{padding:0 24px 18px;font-size:11px}.recording-links a{color:#236946}

/* Keep the legend outside the flight area so landed robots remain visible. */
.composite-stage{aspect-ratio:auto}
.composite-stage canvas{aspect-ratio:1100/619;height:auto}
.scene-legend{position:static}
@media(max-width:750px){.composite-stage canvas{aspect-ratio:1.25}}

/* Data-backed replays and paired hardware comparisons. */
[hidden]{display:none!important}
.robot-tabs button[aria-pressed=true]{background:#e4eee8;color:#176348;font-weight:600}
.composite-stage canvas{aspect-ratio:1100/619}
.scene-legend{background:#152c24;flex-wrap:wrap;gap:16px}
.controller-status .is-lost{color:#cc2020;font-weight:600}
.controller-status strong{font-size:11px;line-height:1.5;display:block}
.disturbance-controls{grid-template-columns:1.15fr 1.5fr .85fr;align-items:center}
.data-details{font-size:13px;line-height:1.7;margin-top:18px;color:#69716b}
.data-details summary{cursor:pointer;color:#365947;font-weight:600}
.data-details p{margin:12px 0}.data-details a{color:#178160}.data-details video{margin-top:15px}
.hardware-recordings{margin:0 0 40px}.recording-intro{font-size:14px;line-height:1.7;margin-bottom:28px}
.trial-group{margin:0 0 35px;border:1px solid #dde3df;border-radius:8px;overflow:hidden;background:white}
.trial-group h4,.recovery-highlight h4{padding:17px 20px;margin:0;font-size:17px;font-weight:600;text-align:center;background:#f4f7f4;border-bottom:1px solid #dde3df}
.hardware-grid{display:grid;grid-template-columns:repeat(2,minmax(0,1fr));gap:2px;background:#dce3de}
.hardware-grid figure{margin:0;min-width:0;background:#15251f}
.hardware-grid figcaption{padding:12px 15px;font-size:13px;color:#f0f3ef;font-weight:600;min-height:47px;display:flex;align-items:center;justify-content:center;text-align:center}
.hardware-grid video{width:100%;aspect-ratio:16/9;display:block;background:#101817;object-fit:contain}
.trial-group .recorded-transport{border:0}.trial-error{color:#b42318;padding:12px 20px;font-size:13px}
button:disabled{cursor:wait;opacity:.5}
@media(max-width:750px){
 .disturbance-controls{grid-template-columns:1fr 1fr}.disturbance-controls>.scenario-control:first-child{grid-column:1/-1}.disturbance-controls>.scenario-control:last-child{grid-column:auto}
 .hardware-grid{grid-template-columns:repeat(2,minmax(0,1fr))}.hardware-grid figcaption{font-size:10px;line-height:1.4;padding:8px;min-height:45px}
 .trial-group h4,.recovery-highlight h4{font-size:15px;padding:14px}.recording-intro{font-size:13px}.scene-legend{font-size:9px}.data-details{font-size:12px}
}

/* One selected demonstration per platform: only disturbance and playback. */
.featured-controls{grid-template-columns:minmax(0,1fr) auto;gap:35px;padding:25px 28px}
.featured-controls .disturbance-control label{font-size:15px}.featured-controls output{font-size:15px;font-weight:600}
#show-outcome{border:1px solid #bdd8cb;background:#eaf5ef;color:#146246;border-radius:5px;padding:12px 18px;font-size:13px;font-weight:600}
#recovery-insight{font-size:14px;text-align:center;background:#f5faf7}
@media(max-width:750px){.featured-controls{gap:20px;padding:20px 15px;grid-template-columns:1fr}.featured-controls .disturbance-control label,.featured-controls output{font-size:13px}#show-outcome{padding:9px}#recovery-insight{font-size:12px}}

/* Paper results and their accompanying, data-backed examples. */
.simulation-examples{margin-top:3.5rem;padding-top:2.5rem;border-top:1px solid #dedede}
.simulation-platform{margin-top:3.5rem;padding-top:3rem;border-top:3px solid #d7e5dc}
.simulation-platform-title{color:#294b39;margin-bottom:2rem!important}
.simulation-platform>.research-figure{margin-top:0}
.simulation-platform .simulation-examples{margin-top:3rem}
.overall-simulation-results{margin-top:4rem;padding-top:3rem;border-top:3px solid #d7e5dc}
.example-intro{font-size:15px;line-height:1.7;margin:-.3rem 0 1.4rem}
.simulation-viewer{border:1px solid #dce3df;border-radius:8px;overflow:hidden;background:#fff}
.simulation-settings{display:grid;grid-template-columns:1fr 1.5fr;align-items:center;gap:45px;padding:22px 24px;background:#fafcfb;border-bottom:1px solid #e0e6e2}
.simulation-settings .scenario-control{font-size:17px;font-weight:700;color:#304b3c;min-width:0}.simulation-settings select{font:inherit;font-size:21px;font-weight:700;padding:12px 14px;min-height:54px;border-color:#abc5b7;color:#234b38}
.simulation-settings .disturbance-control label,.simulation-settings .disturbance-control output{font-size:18px;font-weight:700}
.simulation-settings .disturbance-control output{font-size:22px;color:#006e50}
.simulation-settings .slider-endpoints{font-size:13px;color:#5d7366}
.quad-stage{position:relative;background:#f1f5f4}
.quad-stage canvas{display:block;width:100%;aspect-ratio:960/500}
.simulation-label{position:absolute;top:17px;left:20px;font-size:9px;letter-spacing:1.1px;color:#647970;pointer-events:none}
#quad-clock{position:absolute;top:17px;right:20px;font-size:11px;color:#50655b;font-variant-numeric:tabular-nums}
.simple-transport{display:flex;justify-content:center;align-items:center;gap:20px;padding:15px;border-top:1px solid #e1e8e4;border-bottom:1px solid #e1e8e4;background:#fafcfb}
.simple-transport button{border:1px solid #007e5c;border-radius:5px;background:#009e73;color:white;padding:8px 26px;font:inherit;font-size:16px;font-weight:700;min-width:110px}
.simple-transport button:hover{background:#007e5c}
.simple-transport label{display:flex;align-items:center;gap:8px;font-size:15px;font-weight:600;color:#435b4d}
.simple-transport select{font:inherit;border:1px solid #cbd8d0;border-radius:4px;padding:7px 10px;background:white;color:#344f41}
.survival-heading{font-size:19px;font-weight:700;padding:20px 22px 0;color:#40584a}
.survival-heading span{font-size:13px;font-weight:400;color:#76847c;margin-left:8px}
.simulation-metrics{display:grid;grid-template-columns:repeat(4,minmax(0,1fr));gap:16px;padding:14px 22px 18px}
.simulation-metric{border-top:3px solid var(--method);padding-top:9px;min-width:0}
.simulation-metric .metric-name{font-size:16px;font-weight:700;min-height:48px;display:block;color:#344d3f;line-height:1.4}
.simulation-metric .metric-count{display:block;font-size:38px;font-weight:700;color:#2c4336;font-variant-numeric:tabular-nums;line-height:1.3}
.simulation-metric .metric-count small{font-size:17px;font-weight:600;color:#64776a}
.simulation-metric .trial-status{font-size:14px;font-weight:600;color:#496551;display:block;line-height:1.6;margin-top:8px}.simulation-metric .trial-status.failed{color:#c22935}
.selected-trial{font-size:11px;line-height:1.6;padding:12px 22px;background:#f5f8f6;border-top:1px solid #e5eae6;color:#64756a}
.example-note{font-size:12px;line-height:1.7;color:#748078;margin-top:14px}
.car-example-title{margin-top:3.5rem!important}
#car-simulation{width:100%;aspect-ratio:16/9;display:block;background:#0d141c}
.car-settings strong{font-size:19px;font-weight:700}.car-settings p{font-size:13px;color:#7c8a81;margin-top:5px}
@media(max-width:750px){
 .simulation-settings{grid-template-columns:1fr;gap:22px;padding:18px}.simulation-settings select{font-size:20px}.simulation-settings .disturbance-control label{font-size:17px}.simulation-settings .slider-endpoints{font-size:12px}.simulation-settings>.scenario-control{grid-column:auto}
 .simulation-metrics{grid-template-columns:repeat(2,minmax(0,1fr));padding:15px;gap:20px}
 .simulation-metric .metric-name{font-size:15px;min-height:42px;margin-bottom:5px}.simulation-metric .metric-count{font-size:32px}.simulation-metric .metric-count small{font-size:15px}.simulation-metric .trial-status{font-size:12px}
 .survival-heading{padding:17px 15px 0}.survival-heading span{display:block;margin:4px 0 0}
 .simulation-label{font-size:7px;left:12px;top:10px}#quad-clock{font-size:9px;right:12px;top:10px}
 .quad-stage canvas{aspect-ratio:1.5}.example-intro{font-size:14px}.example-note{font-size:11px}
 .selected-trial{padding:12px 15px}.car-settings{gap:20px}
}

#method > .container > h2{color:var(--green)}

/* Nine Figure 2A methods, each with a separate synchronized flight view. */
.simulation-settings.quad-settings{grid-template-columns:1fr;padding:24px 28px}
.quad-summary{display:flex;justify-content:space-between;align-items:center;gap:12px;padding:18px 22px 0;color:#45634f;font-size:14px;font-weight:600}
.quad-summary #quad-clock{position:static;font-size:14px;font-weight:600;white-space:nowrap}
#quad-metrics{grid-template-columns:repeat(3,minmax(0,1fr));gap:20px;padding:20px 22px 24px}
#quad-metrics .simulation-metric{padding:0 0 15px;border:1px solid #d9e3dc;border-top:4px solid var(--method);border-radius:5px;overflow:hidden;background:#fff}
#quad-metrics .metric-name{display:flex;align-items:center;font-size:16px;min-height:66px;margin:0;padding:10px 14px;line-height:1.4}
#quad-metrics canvas{display:block;width:100%;aspect-ratio:4/3;border-block:1px solid #e2e8e3}
#quad-metrics .metric-count{padding:12px 14px 0;font-size:34px}
#quad-metrics .trial-status{padding:0 14px;font-size:12px;min-height:20px}
@media(max-width:750px){
 #quad-metrics{grid-template-columns:repeat(2,minmax(0,1fr));gap:12px;padding:16px 12px}
 #quad-metrics .metric-name{font-size:14px;padding:10px;min-height:80px}
 #quad-metrics .metric-count{font-size:30px;padding:10px 10px 0}
 #quad-metrics .trial-status{font-size:11px;padding:0 10px;min-height:35px}
 .quad-summary{padding:16px 14px 0;font-size:11px}.quad-summary #quad-clock{font-size:11px}
 .simulation-settings.quad-settings{padding:22px 18px}
}

/* Selectable wind trials, with a shared nine-method legend. */
.quad-mode-bar{display:flex;padding:20px 25px;background:#f8fbf9}.quad-mode-bar label{display:flex;flex-direction:column;gap:7px;color:#344f3e;font-size:14px;font-weight:700}.quad-mode-bar select{min-width:240px;padding:10px 38px 10px 12px;border:1px solid #abc5b7;border-radius:5px;background:#fff;color:#234b38;font:inherit;font-size:18px}
.wind-film-heading{display:flex;justify-content:space-between;align-items:center;gap:20px;padding:22px 25px 15px;background:#f8fbf9}
.wind-film-heading>div{display:flex;align-items:center;gap:20px}.wind-film-heading strong{font-size:24px;color:#006e50}.wind-film-heading span{font-size:14px;color:#687d70}
.wind-film-heading #quad-clock{position:static;font-size:14px;font-weight:600}
.wind-film-heading>label{display:flex;align-items:center;gap:16px;font-size:22px;font-weight:700;color:#344f3e}
.wind-film-heading #quad-wind-value{font-size:26px;font-weight:800;color:#006e50}
.wind-control{padding:0 25px 18px;background:#f8fbf9;border-bottom:1px solid #dfe7e1}
.wind-control input{display:block;width:100%;margin:3px 0 12px;cursor:pointer}
.wind-ticks{display:flex;justify-content:space-between;font-size:14px;font-weight:700;color:#587562}
#quad-film{display:block;width:100%;aspect-ratio:960/690;background:#f7faf8}
.quad-film-legend{display:grid;grid-template-columns:repeat(3,minmax(0,1fr));gap:17px 20px;padding:23px;border-top:1px solid #dfe7e1}
.film-legend-item{display:flex;align-items:flex-start;gap:9px;min-width:0}.film-key{background:var(--method);color:white;flex:none;width:22px;height:22px;border-radius:50%;text-align:center;font-size:12px;line-height:22px;font-weight:700;margin-top:1px}
.film-legend-item strong{display:block;font-size:14px;line-height:1.4;min-height:40px;color:#354e3e}
@media(max-width:750px){
 .quad-mode-bar{padding:16px 14px}.quad-mode-bar label{width:100%}.quad-mode-bar select{width:100%;min-width:0;font-size:16px}
 .wind-film-heading{padding:17px 14px 12px;gap:8px}.wind-film-heading>div{gap:10px}.wind-film-heading strong{font-size:20px}.wind-film-heading span,.wind-film-heading #quad-clock{font-size:11px}
 .wind-film-heading>label{font-size:17px;gap:10px}.wind-film-heading #quad-wind-value{font-size:22px}
 .wind-control{padding:0 14px 16px}.wind-ticks{font-size:12px}
 #quad-film{aspect-ratio:640/1150}
 .quad-film-legend{grid-template-columns:repeat(2,minmax(0,1fr));padding:17px 12px;gap:18px 12px}.film-legend-item{gap:7px}.film-legend-item strong{font-size:12px;min-height:50px}.film-key{width:19px;height:19px;font-size:10px;line-height:19px}
}

/* Full periodic-strip averages and the featured hardware flight. */
#car-metrics .metric-count.raya-name{color:var(--green)}
#car-metrics .metric-count small{margin-left:3px}
.recovery-highlight{border:1px solid #dde3df;border-radius:6px;overflow:hidden}.recovery-highlight video{display:block;width:100%;aspect-ratio:16/9;background:#101a21}.recovery-highlight figcaption{padding:12px 16px;margin:0;background:#fff}
#car-experiment{margin-bottom:3.5rem}
@media(max-width:750px){
 .simulation-platform{margin-top:3rem;padding-top:2.3rem}
 .simulation-platform-title{font-size:2rem!important}
 .overall-simulation-results{margin-top:3rem;padding-top:2.3rem}
}