/* HiPer project page. PAIRS Lab colors: navy #063a7a, blue #0b55ad, cyan #00b4cc. */
:root {
  --ink: #0a2342; --text: #2f4560; --muted: #5d7087; --navy: #063a7a; --blue: #0b55ad; --cyan: #00b4cc;
  --soft: #f4f7fb; --soft2: #e8f1fb; --line: #d9e2ec; --bg: #fff;
  --c-classic: #0b55ad; --c-implicit: #d9731f; --c-gs: #11998e;  /* validated: CVD + normal-vision + contrast pass */
  --wrap: min(1160px, calc(100vw - 48px));
  --font: system-ui, -apple-system, "Segoe UI", Roboto, "Helvetica Neue", Arial, "Noto Sans", sans-serif;
}
*, *::before, *::after { box-sizing: border-box; }
[hidden] { display: none !important; }
html { scroll-behavior: smooth; scroll-padding-top: 76px; }
body { margin: 0; color: var(--text); background: var(--bg); font: 17px/1.65 var(--font); -webkit-font-smoothing: antialiased; }
a { color: var(--blue); text-underline-offset: 3px; }
h1, h2, h3 { color: var(--ink); line-height: 1.15; margin: 0 0 0.5em; letter-spacing: -0.015em; }
h2 { font-size: clamp(1.6rem, 3vw, 2.3rem); }
h3 { font-size: 1.1rem; }
p { margin: 0 0 1em; }
.wrap { width: var(--wrap); margin-inline: auto; }
.sr { position: absolute; width: 1px; height: 1px; overflow: hidden; clip: rect(0 0 0 0); }
.skip { position: fixed; left: 10px; top: 10px; z-index: 99; padding: 8px 12px; background: var(--navy); color: #fff; transform: translateY(-200%); }
.skip:focus { transform: none; }
:focus-visible { outline: 2px solid var(--cyan); outline-offset: 3px; }

/* top bar */
.topbar { position: sticky; top: 0; z-index: 50; background: rgba(255, 255, 255, 0.94); backdrop-filter: blur(10px); border-bottom: 1px solid var(--line); }
.topbar-row { display: flex; align-items: center; gap: 20px; min-height: 60px; }
.lab img { display: block; height: 35px; width: auto; }
.toc { display: flex; gap: 2px; margin-left: auto; overflow-x: auto; scrollbar-width: none; }
.toc a { padding: 6px 10px; border-radius: 6px; color: var(--text); font-size: 0.9rem; font-weight: 600; text-decoration: none; white-space: nowrap; }
.toc a:hover, .toc a.on { color: var(--blue); background: var(--soft2); }
.gh { color: var(--ink); display: grid; place-items: center; }

/* hero */
.hero { position: relative; overflow: hidden; padding: 72px 0 56px; color: #fff;
  background: radial-gradient(circle at 85% 20%, rgba(0, 180, 204, 0.35), transparent 40%), linear-gradient(135deg, #061a36, #063a7a 55%, #0b55ad); }
.hero::before { content: ""; position: absolute; inset: 0; opacity: 0.18;
  background-image: linear-gradient(rgba(255, 255, 255, 0.35) 1px, transparent 1px), linear-gradient(90deg, rgba(255, 255, 255, 0.35) 1px, transparent 1px);
  background-size: 44px 44px; mask-image: linear-gradient(90deg, transparent, #000 60%); }
.hero .wrap { position: relative; }
.venue { display: inline-flex; flex-wrap: wrap; gap: 10px; align-items: center; margin-bottom: 18px; color: #cfe3fb; font-size: 0.9rem; font-weight: 600; }
.venue span { padding: 2px 10px; border-radius: 999px; color: #061a36; background: var(--cyan); font-weight: 800; letter-spacing: 0.06em; text-transform: uppercase; font-size: 0.75rem; }
.hero h1 { margin-bottom: 8px; color: #fff; font-size: clamp(2.4rem, 6vw, 4.2rem); font-weight: 850; }
.subtitle { max-width: 30ch; color: #e6f1ff; font-size: clamp(1.2rem, 2.4vw, 1.6rem); font-weight: 600; line-height: 1.3; }
.authors { margin: 26px 0 4px; font-size: 1.08rem; }
.authors a { color: #fff; font-weight: 700; }
.affils { color: #b9d3f2; font-size: 0.88rem; }
.actions { display: flex; flex-wrap: wrap; gap: 10px; margin-top: 24px; }
.btn { display: inline-flex; gap: 6px; align-items: center; padding: 10px 18px; border: 1.5px solid rgba(255, 255, 255, 0.7); border-radius: 8px; color: #fff; font-weight: 700; text-decoration: none; }
.btn:hover { background: rgba(255, 255, 255, 0.12); }
.btn-solid { border-color: var(--cyan); color: #061a36; background: var(--cyan); }
.btn-solid:hover { background: #2fd0e4; }
.counters { display: grid; grid-template-columns: repeat(5, 1fr); gap: 12px; max-width: 820px; margin: 40px 0 0; }
.counters div { padding: 14px 12px; border-top: 3px solid var(--cyan); background: rgba(255, 255, 255, 0.07); border-radius: 0 0 8px 8px; }
.counters dt { color: #fff; font-size: 2rem; font-weight: 850; line-height: 1; }
.counters dd { margin: 6px 0 0; color: #cfe3fb; font-size: 0.85rem; }

/* blocks */
.block { padding: 80px 0; }
.block.alt { background: var(--soft); border-block: 1px solid var(--line); }
.kicker { margin: 0 0 8px; color: var(--cyan); font-size: 0.8rem; font-weight: 800; letter-spacing: 0.12em; text-transform: uppercase; }
.lead { max-width: 70ch; color: var(--muted); font-size: 1.05rem; }
.two { display: grid; grid-template-columns: 1fr 1.3fr; gap: 48px; }
.two h2 em { color: var(--blue); font-style: normal; }
.prose p { font-size: 1.05rem; }
.cards3 { display: grid; grid-template-columns: repeat(3, 1fr); gap: 18px; margin-top: 36px; }
.card { padding: 22px; border: 1px solid var(--line); border-radius: 12px; background: #fff; }
.card-num { display: inline-grid; place-items: center; width: 34px; height: 34px; margin-bottom: 10px; border-radius: 50%; color: #fff; background: var(--navy); font-weight: 800; }
.card p { margin: 0; color: var(--muted); }
.credit { margin-top: 12px; color: var(--muted); font-size: 0.85rem; }

/* taxonomy tree */
.tree { margin-top: 28px; }
.tree-root { width: fit-content; margin: 0 auto 26px; padding: 12px 22px; border-radius: 10px; color: #fff; background: var(--navy); font-weight: 800; }
.tree-branches { display: grid; grid-template-columns: 1fr 1fr; gap: 24px; }
.branch { position: relative; padding: 20px; border: 1px solid var(--line); border-radius: 14px; background: #fff; }
.node strong { display: block; color: var(--ink); }
.node span { color: var(--muted); font-size: 0.88rem; }
.node-l1 { margin-bottom: 16px; padding: 12px 16px; border-left: 5px solid var(--blue); border-radius: 8px; background: var(--soft2); }
.node-l1.tight { border-left-color: var(--cyan); background: #e0f7fa; }
.children { display: grid; grid-template-columns: 1fr 1fr; gap: 12px; }
.node-l2 { padding: 14px; border: 1px solid var(--line); border-radius: 10px; }
.node-l2 ul { margin: 10px 0 0; padding-left: 18px; font-size: 0.92rem; }
.node-l2 li { margin-bottom: 4px; }

/* pipeline */
.figure { margin: 26px 0; padding: 16px; border: 1px solid var(--line); border-radius: 12px; background: #fff; }
.figure img, .figure video { display: block; width: 100%; height: auto; }
.figure figcaption { margin-top: 8px; color: var(--muted); font-size: 0.85rem; }
.stages { display: grid; grid-template-columns: repeat(5, 1fr); gap: 12px; }
.stage { display: flex; flex-direction: column; gap: 4px; padding: 16px; border: 1px solid var(--line); border-radius: 10px; background: #fff; color: inherit; text-align: left; font: inherit; cursor: pointer; transition: border-color 0.2s, transform 0.2s; }
.stage:hover { border-color: var(--blue); transform: translateY(-2px); }
.stage b { color: var(--cyan); font-size: 0.8rem; letter-spacing: 0.1em; }
.stage strong { color: var(--ink); }
.stage small { color: var(--muted); }

/* evolution */
.timeline-scroll, .table-scroll { overflow-x: auto; }
.timeline { display: grid; gap: 0; min-width: 900px; margin-top: 24px; border: 1px solid var(--line); border-radius: 12px; background: #fff; overflow: hidden; }
.tl-head, .tl-row { display: grid; }
.tl-head > div { padding: 8px; color: var(--muted); font-size: 0.8rem; font-weight: 800; text-align: center; border-bottom: 1px solid var(--line); }
.tl-row > div { padding: 8px 6px; border-bottom: 1px solid var(--line); border-left: 1px dashed var(--line); }
.tl-row:last-child > div { border-bottom: 0; }
.tl-label { display: flex; align-items: center; gap: 8px; color: var(--ink); font-size: 0.85rem; font-weight: 700; border-left: 0 !important; }
.tl-label i { flex: none; width: 10px; height: 10px; border-radius: 50%; }
.sys { display: block; width: 100%; margin: 0 0 5px; padding: 3px 6px; border: 0; border-radius: 6px; color: #fff; font: 600 0.74rem/1.2 var(--font); text-align: center; cursor: pointer; }
.sys:hover, .sys:focus-visible { filter: brightness(1.12); }
.f-classic { background: var(--c-classic); } .f-continuous { background: var(--c-continuous); } .f-foundation { background: var(--c-foundation); } .f-multirobot { background: var(--c-multirobot); }
.trends { display: grid; grid-template-columns: repeat(4, 1fr); gap: 12px; margin-top: 18px; }
.trend { padding: 14px 16px; border: 1px solid var(--line); border-radius: 10px; background: #fff; }
.trend strong { display: block; color: var(--ink); font-size: 1.5rem; }
.trend span { color: var(--muted); font-size: 0.88rem; }
.tip { position: fixed; z-index: 80; max-width: 380px; padding: 10px 12px; border-radius: 8px; color: #fff; background: #0a2342; font-size: 0.82rem; line-height: 1.45; box-shadow: 0 10px 30px rgba(6, 26, 54, 0.3); pointer-events: none; }

/* explorer */
.controls { display: grid; grid-template-columns: 1fr 200px; gap: 10px; margin: 22px 0 12px; }
.controls input, .controls select { min-height: 46px; padding: 8px 14px; border: 1px solid var(--line); border-radius: 8px; color: var(--ink); background: #fff; font: inherit; }
kbd { padding: 1px 6px; border: 1px solid var(--line); border-bottom-width: 2px; border-radius: 4px; background: #fff; font-size: 0.85em; }
.chips { display: flex; flex-wrap: wrap; gap: 8px; margin-bottom: 10px; }
.chip { display: inline-flex; align-items: center; gap: 6px; padding: 5px 13px; border: 1px solid var(--line); border-radius: 999px; color: var(--text); background: #fff; font: 600 0.86rem var(--font); cursor: pointer; }
.chip i { width: 9px; height: 9px; border-radius: 50%; }
.chip[aria-pressed="true"] { color: #fff; border-color: var(--navy); background: var(--navy); }
.count { margin: 8px 0 12px; color: var(--muted); font-size: 0.9rem; }
.systems { width: 100%; min-width: 960px; border-collapse: collapse; font-size: 0.9rem; }
.systems th { position: sticky; top: 0; padding: 10px 8px; color: var(--muted); background: var(--soft); font-size: 0.76rem; letter-spacing: 0.04em; text-align: left; text-transform: uppercase; border-bottom: 2px solid var(--line); }
.systems td { padding: 10px 8px; border-bottom: 1px solid var(--line); vertical-align: top; }
.systems tbody tr.main { cursor: pointer; }
.systems tbody tr.main:hover td { background: #f9fbfe; }
.systems .name { color: var(--ink); font-weight: 750; white-space: nowrap; }
.systems .name small { color: var(--muted); font-weight: 600; }
.fam { display: inline-flex; align-items: center; gap: 6px; white-space: nowrap; }
.fam i { width: 9px; height: 9px; border-radius: 50%; }
.abbr { border-bottom: 1px dotted var(--muted); cursor: help; }
.yes { color: #138a52; font-weight: 800; } .no { color: #b7c3cf; }
.cite-row td { padding: 0 8px 12px; color: var(--muted); font-size: 0.85rem; background: #f9fbfe; }
.empty { padding: 24px; color: var(--muted); text-align: center; }

/* compare */
.tabs { display: flex; flex-wrap: wrap; gap: 8px; margin: 22px 0 14px; }
.tab { padding: 8px 14px; border: 1px solid var(--line); border-radius: 8px; color: var(--text); background: #fff; font: 700 0.9rem var(--font); cursor: pointer; }
.tab b { margin-right: 6px; color: var(--cyan); }
.tab[aria-selected="true"] { color: #fff; border-color: var(--navy); background: var(--navy); }
.tab[aria-selected="true"] b { color: #9ee7f1; }
.stage-table { width: 100%; min-width: 820px; border-collapse: collapse; background: #fff; font-size: 0.9rem; border: 1px solid var(--line); }
.stage-table caption { padding: 10px 0; color: var(--muted); font-size: 0.85rem; text-align: left; caption-side: bottom; }
.stage-table th { padding: 10px; color: var(--muted); background: var(--soft2); font-size: 0.76rem; letter-spacing: 0.04em; text-align: left; text-transform: uppercase; }
.stage-table td { padding: 10px; border-top: 1px solid var(--line); vertical-align: top; }
.stage-table td:first-child { color: var(--ink); font-weight: 700; }
.stage-table .group td { color: var(--blue); background: #fbfdff; font-size: 0.8rem; font-weight: 800; letter-spacing: 0.06em; text-transform: uppercase; }

/* questions + cite */
.questions { display: grid; grid-template-columns: repeat(3, 1fr); gap: 18px; margin-top: 26px; }
.q { position: relative; padding: 24px 22px 22px; border: 1px solid var(--line); border-radius: 12px; background: #fff; }
.q-num { position: absolute; top: -14px; left: 20px; padding: 2px 10px; border-radius: 999px; color: #fff; background: var(--cyan); font-size: 0.8rem; font-weight: 800; }
.q p { margin: 0; color: var(--muted); }
.bib { position: relative; margin-top: 18px; }
.bib pre { overflow-x: auto; margin: 0; padding: 20px; border: 1px solid var(--line); border-radius: 10px; color: var(--ink); background: #fff; font-size: 0.85rem; }
.copy { position: absolute; top: 10px; right: 10px; padding: 6px 12px; border: 1px solid var(--line); border-radius: 6px; color: var(--blue); background: var(--soft2); font: 700 0.85rem var(--font); cursor: pointer; }
.foot { padding: 28px 0; color: var(--muted); font-size: 0.88rem; border-top: 1px solid var(--line); }
.foot-row { display: flex; flex-wrap: wrap; justify-content: space-between; gap: 12px; }
.foot p { margin: 0; }

/* CoGS-SLAM additions */
.hero-gs h1 { max-width: 20ch; font-size: clamp(2.1rem, 5vw, 3.6rem); }
.dot { display: inline-block; width: 10px; height: 10px; border-radius: 50%; flex: none; }
.f-classic { background: var(--c-classic); } .f-implicit { background: var(--c-implicit); } .f-gs { background: var(--c-gs); }
.timeline .sys { font-size: 0.7rem; padding: 3px 5px; }
.sys { background: #fff; color: var(--ink); border: 1px solid var(--line); border-left: 4px solid; text-align: left; }
.sys-classic { border-left-color: var(--c-classic); } .sys-implicit { border-left-color: var(--c-implicit); } .sys-gs { border-left-color: var(--c-gs); }
.sys:hover, .sys:focus-visible { background: var(--soft2); filter: none; }
.timeline .figure, .timeline-scroll + .figure { margin-top: 22px; }
.arch { display: grid; grid-template-columns: 1fr 1fr; gap: 18px; margin: 26px 0; }
.arch-card { padding: 24px; border: 1px solid var(--line); border-radius: 12px; background: #fff; }
.arch-card .kicker { color: var(--blue); }
.arch-eg { color: var(--muted); font-size: 0.9rem; font-style: italic; }
.pm { margin: 0; padding: 0; list-style: none; font-size: 0.93rem; }
.pm li { padding: 3px 0 3px 22px; position: relative; }
.pm .plus::before { content: "+"; position: absolute; left: 4px; color: #138a52; font-weight: 800; }
.pm .minus::before { content: "−"; position: absolute; left: 4px; color: #b54708; font-weight: 800; }
.problems { display: grid; grid-template-columns: repeat(4, 1fr); gap: 14px; }
.problem, .pattern, .app { padding: 20px; border: 1px solid var(--line); border-radius: 12px; background: #fff; }
.problem .kicker, .pattern .kicker { margin-bottom: 4px; }
.problem p:last-child, .pattern p:last-child, .app p { margin: 0; color: var(--muted); font-size: 0.94rem; }
.sub { margin: 40px 0 14px; color: var(--navy); font-size: 1.25rem; }
.patterns { display: grid; grid-template-columns: repeat(4, 1fr); gap: 14px; }
.pattern { border-top: 3px solid var(--cyan); background: var(--soft); }
.apps { display: grid; grid-template-columns: repeat(3, 1fr); gap: 14px; margin-top: 24px; }
.app h3 { color: var(--navy); }
.questions { grid-template-columns: repeat(4, 1fr); }
.numc { text-align: right; font-variant-numeric: tabular-nums; }
.charts { display: grid; grid-template-columns: 1fr 1fr; gap: 18px; margin-top: 24px; }
.chart { margin: 0; padding: 20px 22px; border: 1px solid var(--line); border-radius: 12px; background: #fff; }
.chart figcaption { margin-bottom: 14px; }
.chart figcaption strong { display: block; color: var(--ink); }
.chart figcaption span { color: var(--muted); font-size: 0.86rem; }
.bar-row { display: grid; grid-template-columns: 120px 1fr 52px; align-items: center; gap: 10px; padding: 5px 0; outline-offset: 2px; }
.bar-row:hover .bar, .bar-row:focus-visible .bar { background: var(--navy); }
.bar-name { color: var(--text); font-size: 0.88rem; font-weight: 600; }
.bar-track { display: block; height: 12px; }
.bar { display: block; height: 100%; min-width: 2px; border-radius: 0 4px 4px 0; background: var(--blue); }
.bar-val { color: var(--ink); font-size: 0.86rem; font-weight: 700; text-align: right; font-variant-numeric: tabular-nums; }
.note { margin-top: 12px; color: var(--muted); font-size: 0.9rem; }
@media (max-width: 900px) {
  .arch, .charts { grid-template-columns: 1fr; }
  .problems, .patterns, .questions { grid-template-columns: repeat(2, 1fr); }
  .apps { grid-template-columns: 1fr 1fr; }
}
@media (max-width: 520px) {
  .problems, .patterns, .questions, .apps { grid-template-columns: 1fr; }
  .bar-row { grid-template-columns: 96px 1fr 44px; }
}

/* paper page */
.figure-narrow { max-width: 760px; margin-inline: auto; }
.two-figs { display: grid; grid-template-columns: 1fr 1fr; gap: 18px; align-items: start; }
@media (max-width: 900px) { .two-figs { grid-template-columns: 1fr; } }
.hero-paper { padding: 56px 0 44px; }
.hero-grid { display: grid; grid-template-columns: 1.1fr 1fr; gap: 40px; align-items: center; }
.hero-paper h1 { font-size: clamp(2.6rem, 6vw, 4.2rem); }
.hero-paper .subtitle { max-width: 34ch; font-size: clamp(1.1rem, 2vw, 1.4rem); }
.teaser { margin: 0; overflow: hidden; border-radius: 12px; background: #fff; box-shadow: 0 18px 44px rgba(0, 0, 0, 0.35); }
.teaser video { display: block; width: 100%; height: auto; }
.teaser figcaption { padding: 8px 12px; color: var(--muted); font-size: 0.82rem; }
#headline { grid-template-columns: repeat(4, 1fr); max-width: none; }
.yt { position: relative; overflow: hidden; aspect-ratio: 16 / 9; margin-top: 24px; border-radius: 12px; background: #061a36; }
.yt iframe, .yt-play, .yt-play img { position: absolute; inset: 0; width: 100%; height: 100%; border: 0; }
.yt-play { padding: 0; cursor: pointer; background: #061a36; }
.yt-play img { object-fit: cover; opacity: 0.85; }
.yt-btn { position: absolute; top: 50%; left: 50%; display: grid; place-items: center; width: 84px; height: 84px; margin: -42px 0 0 -42px; border-radius: 50%; color: #fff; background: rgba(6, 58, 122, 0.92); font-size: 2rem; box-shadow: 0 10px 30px rgba(0, 0, 0, 0.4); transition: transform 0.2s; }
.yt-play:hover .yt-btn { transform: scale(1.08); }
.yt-note { position: absolute; left: 12px; bottom: 10px; padding: 3px 8px; border-radius: 4px; color: #fff; background: rgba(0, 0, 0, 0.55); font-size: 0.78rem; }
.steps { display: grid; grid-template-columns: repeat(3, 1fr); gap: 14px; margin: 24px 0 0; padding: 0; list-style: none; }
.steps li { padding: 20px; border: 1px solid var(--line); border-radius: 12px; background: #fff; }
.steps b { display: inline-grid; place-items: center; width: 30px; height: 30px; margin-bottom: 8px; border-radius: 50%; color: #fff; background: var(--navy); }
.steps p { margin: 0; color: var(--muted); font-size: 0.94rem; }
.scenario-info { margin: 4px 0 12px; color: var(--muted); font-size: 0.92rem; }
.metric-row { display: flex; flex-wrap: wrap; gap: 8px; margin-bottom: 14px; }
.verdict { margin: 12px 0 18px; padding: 10px 14px; border-left: 4px solid var(--blue); border-radius: 0 8px 8px 0; background: #fff; font-size: 0.95rem; }
.verdict.is-other { border-left-color: #b54708; }
.stage-table tr.ours td { background: #eef6ff; font-weight: 700; }
.chart .bars { margin-top: 4px; }
.bar-row { grid-template-columns: 150px 1fr 64px; }
.bar { background: #9fb3c8; }
.bar-row.ours .bar { background: var(--blue); }
.bar-row.ours .bar-name, .bar-row.ours .bar-val { color: var(--ink); font-weight: 800; }
.bar-row:hover .bar, .bar-row:focus-visible .bar { background: var(--navy); }
@media (max-width: 900px) {
  .hero-grid { grid-template-columns: 1fr; }
  #headline { grid-template-columns: repeat(2, 1fr); }
  .steps { grid-template-columns: 1fr 1fr; }
}
@media (max-width: 520px) { .steps { grid-template-columns: 1fr; } .bar-row { grid-template-columns: 104px 1fr 52px; } }

@media (max-width: 900px) {
  :root { --wrap: calc(100vw - 32px); }
  .toc { display: none; }
  .gh { margin-left: auto; }
  .two, .cards3, .tree-branches, .questions { grid-template-columns: 1fr; gap: 18px; }
  .stages { grid-template-columns: repeat(2, 1fr); }
  .trends { grid-template-columns: repeat(2, 1fr); }
  .counters { grid-template-columns: repeat(3, 1fr); }
  .controls { grid-template-columns: 1fr; }
  .block { padding: 56px 0; }
}
@media (max-width: 520px) {
  .children { grid-template-columns: 1fr; }
  .counters { grid-template-columns: repeat(2, 1fr); }
  .stages { grid-template-columns: 1fr; }
}
@media (prefers-reduced-motion: reduce) { * { transition: none !important; scroll-behavior: auto !important; } }

.teaser img { display: block; width: 100%; height: auto; }