:root {
  --blue: #206feb;
  --blue-dark: #1859bd;
  --text: #252525;
  --muted: #636363;
  --line: #e1e1e1;
  --pale: #f7f7f7;
  --sans: -apple-system, BlinkMacSystemFont, "Segoe UI", Arial, sans-serif;
  font-family: Georgia, "Times New Roman", serif;
  color: var(--text);
  background: #fff;
  font-synthesis: none;
}
* { box-sizing: border-box; }
html { scroll-behavior: smooth; scroll-padding-top: 24px; }
body { margin: 0; font-size: 18px; line-height: 1.7; }
h1, h2, h3, p, figure { margin: 0; }
h1, h2, h3 { line-height: 1.3; font-weight: 500; }
h1, h2, h3, figcaption { text-wrap: balance; }
p, li, .option-text { text-wrap: pretty; }
.correlation-intro p, .online-heading p, .ablation-grid article > p { text-wrap: balance; }
.section-heading > p, .curation-note { text-wrap: wrap; }
.text-tail { display: inline-block; max-width: 100%; text-wrap: balance; }
h2 { font-size: 31px; }
h3 { font-size: 22px; }
a { color: var(--blue-dark); text-decoration: none; }
a:hover { text-decoration: underline; text-underline-offset: 3px; }
img { display: block; max-width: 100%; height: auto; }
button, input { font: inherit; }
button { cursor: pointer; }
button, input, .button, .site-header, .example-shell, .domain-controls, .site-footer, table, .small-note, figcaption { font-family: var(--sans); }
button:focus-visible, a:focus-visible, input:focus-visible, summary:focus-visible, [tabindex]:focus-visible { outline: 2px solid var(--blue); outline-offset: 4px; }
sup { font-size: .65em; line-height: 0; }
::selection { background: #dce9fc; }
.section-shell, .nav-shell { width: min(1040px, calc(100% - 48px)); margin-inline: auto; }
.section-block { padding-block: 52px; border-top: 1px solid var(--line); }
.site-header { background: white; }
.nav-shell { height: 60px; display: flex; align-items: center; justify-content: space-between; }
.brand { color: var(--text); font-size: 16px; font-weight: 600; }
nav { display: flex; gap: 26px; }
nav a { color: var(--muted); font-size: 14px; padding-block: 6px; }
nav a[aria-current="page"] { color: var(--blue-dark); border-bottom: 1px solid var(--blue); }
.skip-link { position: fixed; z-index: 100; top: -100px; left: 16px; padding: 8px 16px; background: white; border: 1px solid var(--blue); }
.skip-link:focus { top: 12px; }
.hero { padding-top: 28px; text-align: center; }
.hero h1 { color: var(--blue); font-size: 56px; font-weight: 600; letter-spacing: -.025em; }
.tagline { margin: 10px auto 25px; font-size: 31px; line-height: 1.35; }
.authors { font-size: 18px; text-wrap: balance; }
.authors span { margin-inline: 9px; color: #999; }
.authors .author-name { display: inline-block; margin: 0; color: var(--text); white-space: nowrap; }
.affiliations { display: flex; flex-wrap: wrap; justify-content: center; align-items: center; gap: 16px 32px; margin-top: 18px; font-size: 15px; }
.institution { display: inline-flex; align-items: center; gap: 10px; color: var(--text); line-height: 1.4; }
.institution img { flex-shrink: 0; width: auto; height: 32px; object-fit: contain; }
.domain-name { white-space: nowrap; }
.domain-web { color: #a71420; }
.domain-robotics { color: #a24408; }
.domain-ego { color: #207318; }
.domain-games { color: #145cc1; }
.domain-spatial { color: #7230ad; }
.author-note { margin-top: 5px; font-size: 13px; color: var(--muted); }
.project-links { display: flex; flex-wrap: wrap; justify-content: center; gap: 12px; margin: 25px 0 34px; }
.button { display: inline-flex; align-items: center; justify-content: center; gap: 8px; min-height: 38px; padding: 7px 16px; border: 1px solid #ccc; border-radius: 4px; background: white; color: var(--text); font-size: 14px; line-height: 1.5; }
.button:hover { background: var(--pale); border-color: #aaa; text-decoration: none; }
.button svg { width: 17px; height: 17px; fill: none; stroke: currentColor; stroke-width: 1.6; stroke-linecap: round; stroke-linejoin: round; }
.button.small { min-height: 34px; padding: 6px 12px; font-size: 12px; }
.section-heading { margin: 0 0 28px; }
.section-heading h2 { text-align: center; }
.section-heading > p { margin-top: 16px; }
.centered-heading > p { width: 100%; max-width: none; text-align: center; }
.overview-section { border-top: 0; }
.overview-copy { max-width: 880px; margin-inline: auto; }
.overview-copy p + p { margin-top: 18px; }
.figure-shell { margin-top: 28px; }
.figure-shell > a { display: block; }
.figure-shell img { width: 100%; }
.overview-figure { width: 90%; margin-inline: auto; }
.distribution-figure { max-width: 680px; margin: 48px auto 0; }
.ambiguity-figure { max-width: 860px; margin-inline: auto; }
.pipeline-figure { max-width: 860px; margin-inline: auto; }
figcaption { margin-top: 12px; color: var(--muted); font-size: 12px; line-height: 1.6; text-align: center; }
.paper-details { margin-top: 26px; border-top: 1px solid var(--line); }
.paper-details summary { display: flex; align-items: center; justify-content: space-between; cursor: pointer; padding-block: 14px; font-size: 15px; color: var(--blue-dark); list-style: none; }
.paper-details summary::-webkit-details-marker { display: none; }
.paper-details summary span { font-family: var(--sans); font-size: 22px; font-weight: 400; }
.paper-details[open] summary span { transform: rotate(45deg); }
.paper-details > figure { padding-block: 12px; }
.domain-controls { display: flex; flex-wrap: wrap; gap: 4px 12px; border-bottom: 1px solid var(--line); margin-bottom: 18px; }
.domain-controls button { display: inline-flex; align-items: center; gap: 7px; padding: 10px 6px; border: 0; border-bottom: 2px solid transparent; background: white; color: var(--muted); font-size: 14px; }
.domain-controls button[aria-selected="true"] { color: var(--domain-ink); border-bottom-color: var(--domain-color); }
.domain-controls button:hover { color: var(--domain-ink); }
.domain-dot { width: 6px; height: 6px; border-radius: 50%; background: var(--domain-color); }
.example-shell { border: 1px solid var(--line); border-radius: 4px; background: white; }
.example-topline { display: flex; justify-content: space-between; align-items: center; gap: 12px; padding: 14px 22px; border-bottom: 1px solid var(--line); }
.sample-subset { font-size: 14px; font-weight: 600; color: var(--domain-ink); }
.sample-index { font-size: 12px; color: var(--muted); margin-left: 10px; }
.sample-navigation { display: flex; align-items: center; gap: 12px; color: var(--muted); font-size: 12px; }
.icon-button { width: 34px; height: 34px; padding: 0; border: 1px solid #d6d6d6; border-radius: 3px; color: var(--text); background: white; line-height: 1; }
.icon-button:hover { background: var(--pale); }
.example-grid { display: grid; grid-template-columns: 1fr 1fr; }
.example-visual { min-width: 0; padding: 24px; border-right: 1px solid var(--line); }
.sample-media { --media-height: 430px; display: grid; gap: 14px; min-height: 300px; align-items: center; align-content: center; justify-items: center; }
.sample-media figure, .sample-media a { display: block; width: 100%; min-width: 0; }
.sample-media img { width: 100%; max-height: 430px; object-fit: contain; }
.sample-media.multiple:has(figure:nth-child(3)) { grid-template-columns: 1fr 1fr; }
.sample-media.multiple img { max-height: 270px; }
.sample-media video { width: 100%; max-height: 450px; background: #161616; }
.coordinate-image { position: relative; display: block; width: 100%; max-width: calc(var(--media-height) * var(--image-ratio, 1)); margin-inline: auto; }
.coordinate-overlay { position: absolute; inset: 0; pointer-events: none; }
.coordinate-marker { position: absolute; width: 24px; height: 30px; transform: translate(-50%, -100%); color: #d92d38; }
.coordinate-marker.is-correct { color: #168447; }
.coordinate-marker svg { display: block; width: 100%; height: 100%; overflow: visible; transform-origin: 50% 100%; }
.coordinate-marker path { fill: currentColor; stroke: white; stroke-width: 1.4; stroke-linejoin: round; }
.coordinate-marker text { fill: white; font: 700 12px var(--sans); text-anchor: middle; }
.coordinate-dot { width: 6px; height: 6px; transform: translate(-50%, -50%); border: 1px solid white; border-radius: 50%; background: currentColor; }
.coordinate-region { position: absolute; border: 1px dashed #526478; pointer-events: none; }
.coordinate-detail { margin-top: 4px; }
.coordinate-detail .coordinate-image { max-width: 220px; }
.coordinate-crop { display: block; width: 100%; height: auto; }
.image-label { margin-top: 5px; font-size: 11px; }
.media-caption { margin-top: 18px; color: var(--muted); text-align: center; font-size: 11px; text-wrap: balance; }
.example-content { min-width: 0; padding: 24px; }
.sample-kind { margin-bottom: 14px; color: var(--muted); font-size: 12px; line-height: 1.6; }
.example-content h3 { font-size: 16px; line-height: 1.65; font-weight: 500; white-space: pre-wrap; overflow-wrap: anywhere; }
.sample-context { margin-bottom: 16px; padding-left: 12px; border-left: 2px solid var(--line); color: var(--muted); font-size: 12px; white-space: pre-wrap; }
.sample-context strong { color: var(--text); font-weight: 600; }
.sample-context p { margin-top: 4px; }
.sample-options { display: grid; gap: 7px; margin-top: 20px; }
.option { display: flex; align-items: start; gap: 9px; width: 100%; padding: 10px 12px; border: 1px solid var(--line); border-radius: 3px; font-size: 13px; line-height: 1.5; }
.option-letter { flex: 0 0 21px; width: 21px; line-height: 24px; font-weight: 600; color: var(--muted); }
.option-body { flex: 1; min-width: 0; overflow-wrap: anywhere; }
.option.correct { border-color: var(--domain-color); background: var(--domain-tint); }
.option.correct .option-letter { color: var(--domain-ink); }
.gold-label { display: block; margin-top: 4px; color: var(--domain-ink); font-size: 10px; font-weight: 600; }
.option-predictions { display: flex; flex-wrap: wrap; justify-content: end; gap: 4px; max-width: 60px; flex-shrink: 0; }
.model-badge { position: relative; display: grid; place-items: center; width: 26px; height: 26px; padding: 3px; cursor: help; }
.model-icon { width: 19px; height: 19px; object-fit: contain; }
.model-tooltip { position: absolute; z-index: 25; bottom: calc(100% + 6px); right: -5px; width: max-content; max-width: 210px; padding: 6px 9px; background: #303030; color: white; font-size: 10px; line-height: 1.6; opacity: 0; visibility: hidden; pointer-events: none; }
.model-badge:hover .model-tooltip, .model-badge:focus .model-tooltip { opacity: 1; visibility: visible; }
.answer-actions { display: flex; flex-wrap: wrap; justify-content: space-between; align-items: center; gap: 12px; margin-top: 20px; }
.answer-actions .button, .text-link { font-size: 12px; }
.answer-feedback { min-height: 22px; margin-top: 12px; font-size: 12px; color: var(--muted); }
.prediction-legend { display: flex; flex-wrap: wrap; align-items: center; gap: 12px 20px; border-top: 1px solid var(--line); padding: 16px 22px; }
.prediction-legend > p { font-size: 11px; color: var(--muted); }
#model-legend { display: flex; flex-wrap: wrap; gap: 10px 22px; }
.legend-model { display: inline-flex; align-items: center; gap: 7px; color: var(--muted); font-size: 11px; }
.legend-model .model-icon { width: 17px; height: 17px; }
.gallery-stage { width: 100%; }
.gallery-controls { display: flex; align-items: center; justify-content: center; gap: 18px; font-size: 12px; color: var(--muted); }
.gallery-thumbnails { display: flex; gap: 8px; max-width: 100%; overflow-x: auto; padding: 4px; }
.gallery-thumbnails button { padding: 2px; width: 78px; flex: 0 0 78px; background: white; border: 1px solid transparent; }
.gallery-thumbnails button[aria-pressed="true"] { border-color: var(--domain-color); }
.gallery-thumbnails button img { width: 100%; height: 50px; object-fit: cover; }
.gallery-thumbnails button span { display: block; font-size: 10px; color: var(--muted); }
.game-context { margin-bottom: 16px; padding-bottom: 12px; border-bottom: 1px solid var(--line); }
.game-context summary { cursor: pointer; font-size: 12px; color: var(--domain-ink); }
.game-context p { margin-top: 10px; font-size: 12px; color: var(--muted); white-space: pre-wrap; }
.small-note { margin-top: 16px; color: var(--muted); font-size: 12px; line-height: 1.6; }
.curation-note { margin: 24px 0 0; }
.citation-shell { position: relative; padding: 45px 22px 22px; background: var(--pale); border-radius: 3px; }
.citation-shell pre { margin: 0; overflow-x: auto; font-family: "SFMono-Regular", Consolas, "Liberation Mono", monospace; font-size: 12px; line-height: 1.8; }
.copy-button { position: absolute; right: 12px; top: 10px; padding: 4px 8px; border: 1px solid #d6d6d6; border-radius: 3px; background: white; color: var(--muted); font-size: 11px; }
.site-footer { display: flex; align-items: center; justify-content: space-between; gap: 20px; border-top: 1px solid var(--line); padding-block: 24px; }
.site-footer p, .site-footer > a:last-child { color: var(--muted); font-size: 11px; }
.site-footer .brand { font-size: 14px; }
.table-toolbar { display: flex; justify-content: space-between; align-items: center; gap: 20px; margin-bottom: 18px; font-family: var(--sans); }
.table-toolbar label { display: flex; align-items: center; gap: 12px; font-size: 13px; color: var(--muted); }
input[type="search"] { min-width: 220px; padding: 8px 10px; border: 1px solid #ccc; border-radius: 3px; background: white; color: var(--text); font-size: 13px; }
.table-scroll { overflow: auto; border-block: 1px solid var(--line); }
#performance > .table-scroll { max-height: 740px; }
table { width: 100%; border-collapse: separate; border-spacing: 0; font-variant-numeric: tabular-nums; }
caption { padding: 10px 12px; text-align: left; color: var(--muted); font-size: 12px; }
.results-table th { position: sticky; top: 0; z-index: 1; background: #f5f5f5; }
.results-table th button { width: 100%; padding: 12px; border: none; background: transparent; color: var(--text); font-size: 12px; line-height: 1.6; font-weight: 600; text-align: right; white-space: nowrap; }
.results-table th:first-child button { text-align: left; }
.sort-mark { font-size: 10px; color: var(--blue); }
.results-table td { padding: 12px; text-align: right; font-size: 13px; white-space: nowrap; border-top: 1px solid var(--line); }
.results-table td:first-child { text-align: left; }
.results-table td:last-child { font-weight: 600; }
.results-table tr:hover td { background: #fafafa; }
.results-table td.best { color: var(--blue-dark); font-weight: 700; background: #f0f5fd; }
.correlation-intro, .online-heading { display: grid; grid-template-columns: 1fr 1fr; gap: 40px; align-items: center; margin-block: 30px; }
.correlation-intro p, .online-heading p { margin-top: 12px; font-size: 17px; }
.rho-cards { display: grid; grid-template-columns: repeat(3, 1fr); font-family: var(--sans); text-align: center; }
.rho-cards > div { padding: 10px; }
.rho-cards span { font-size: 12px; color: var(--muted); }
.rho-cards strong { display: block; font-size: 27px; font-weight: 500; }
.rho-cards p { grid-column: 1 / -1; font-size: 11px; color: var(--muted); }
.online-heading { margin-top: 64px; row-gap: 24px; }
.online-heading > h3 { grid-column: 1 / -1; text-align: center; font-size: 28px; }
.online-heading p { margin-top: 0; }
.online-stat { text-align: center; }
.online-stat strong { display: block; color: var(--blue-dark); font-size: 32px; font-weight: 500; }
.online-stat span { font-size: 14px; color: var(--muted); }
.online-figure img { max-width: 900px; margin-inline: auto; }
.ablation-grid { display: grid; grid-template-columns: 1fr 1fr; gap: 40px; }
.ablation-grid > article { min-width: 0; }
.ablation-grid > article > p { font-size: 17px; margin-block: 14px 22px; }
.history-figure img { max-width: 380px; margin-inline: auto; }
.compact-table th, .compact-table td { padding: 11px 10px; font-size: 12px; text-align: left; border-bottom: 1px solid var(--line); white-space: nowrap; }
.compact-table th { font-weight: 600; }
.compact-table thead { background: #f5f5f5; }
.error-table td:last-child { text-align: right; }
.delta { color: var(--blue-dark); }
#error-modes .figure-shell { margin-top: 30px; }
@media (max-width: 850px) {
  .example-grid { grid-template-columns: 1fr; }
  .example-visual { border-right: 0; border-bottom: 1px solid var(--line); }
  .sample-media { --media-height: 390px; min-height: 240px; }
  .sample-media.multiple { grid-template-columns: 1fr 1fr; }
  .sample-media img, .sample-media video { max-height: 390px; }
  .correlation-intro, .online-heading, .ablation-grid { gap: 25px; }
}
@media (max-width: 640px) {
  body { font-size: 17px; }
  .section-shell, .nav-shell { width: calc(100% - 32px); }
  .nav-shell { height: 52px; }
  .brand { font-size: 14px; }
  nav { gap: 20px; }
  nav a { font-size: 13px; }
  .hero { padding-top: 24px; }
  .hero h1 { font-size: 44px; }
  .tagline { margin-top: 8px; font-size: 25px; }
  .authors { font-size: 15px; line-height: 1.9; }
  .authors span { margin-inline: 4px; }
  .affiliations { font-size: 13px; gap: 12px 24px; }
  .author-note { font-size: 11px; }
  .project-links { gap: 10px; margin-block: 22px 28px; }
  .project-links .button { padding-inline: 13px; font-size: 13px; }
  .section-block { padding-block: 36px; }
  h2 { font-size: 27px; }
  h3 { font-size: 21px; }
  .domain-controls { gap: 3px 9px; }
  .domain-controls button { font-size: 12px; padding-inline: 3px; }
  .example-topline { padding: 12px; gap: 8px; }
  .sample-subset { font-size: 12px; }
  .sample-index { font-size: 10px; margin-left: 7px; }
  .sample-navigation { gap: 7px; font-size: 11px; }
  .icon-button { width: 30px; height: 30px; }
  .example-visual, .example-content { padding: 18px 14px; }
  .sample-media { min-height: 210px; }
  .sample-media.multiple { grid-template-columns: 1fr; }
  .sample-media.multiple:has(figure:nth-child(3)) { grid-template-columns: 1fr 1fr; }
  .example-content h3 { font-size: 15px; }
  .option { padding: 9px 8px; gap: 6px; font-size: 12px; }
  .option-predictions { max-width: 52px; }
  .model-badge { width: 24px; height: 24px; }
  .model-icon { width: 17px; height: 17px; }
  .prediction-legend { padding: 14px; }
  #model-legend { gap: 9px 14px; }
  .legend-model { font-size: 10px; }
  .citation-shell { padding-inline: 14px; }
  .citation-shell pre { font-size: 11px; }
  .site-footer { flex-direction: column; align-items: start; gap: 9px; }
  .table-toolbar { gap: 10px; align-items: end; }
  .table-toolbar label { display: block; min-width: 0; flex: 1; font-size: 12px; }
  input[type="search"] { min-width: 0; width: 100%; margin-top: 6px; }
  .table-toolbar .button { padding-inline: 9px; font-size: 11px; }
  .correlation-intro, .online-heading, .ablation-grid { grid-template-columns: 1fr; }
  .online-heading { margin-top: 48px; }
  .online-heading > h3 { font-size: 24px; }
  .online-stat { text-align: left; }
}
@media (prefers-reduced-motion: reduce) { html { scroll-behavior: auto; } }