@charset "UTF-8";
:root { --ink: #363636; --muted: #656565; --link: #176ca4; --line: #dedede; --pale: #f6f6f6; --bg: #ffffff; --card-bg: #f8f8f8; --table-border: #aaa; --table-row-border: #e8e8e8; --ours-bg: #f0f3f6; --dialog-bg: #fff; --dialog-backdrop: rgba(0,0,0,.67); --footer-bg: #f5f5f5; --font: -apple-system, BlinkMacSystemFont, "Segoe UI", Arial, sans-serif; }
* { box-sizing: border-box; }
html { scroll-padding-top: 60px; }
body { margin: 0; color: var(--ink); background: var(--bg); font: 16px/1.75 var(--font); -webkit-font-smoothing: antialiased; }
h1, h2, h3, p, figure { margin: 0; }
h1, h2, h3 { line-height: 1.25; }
h1 { font-size: 44px; font-weight: 600; letter-spacing: -1.3px; }
h2 { font-size: 30px; font-weight: 600; text-align: center; margin-bottom: 26px; letter-spacing: -.4px; }
h3 { font-size: 21px; font-weight: 600; }
p + p { margin-top: 17px; }
a { color: var(--link); text-decoration: none; text-underline-offset: 3px; }
a:hover { text-decoration: underline; }
a:focus-visible, button:focus-visible, [tabindex]:focus-visible { outline: 3px solid var(--link); outline-offset: 4px; }
img { display: block; max-width: 100%; height: auto; }
button { font: inherit; cursor: pointer; }
.wrap { max-width: 1080px; width: calc(100% - 64px); margin-inline: auto; }
.reading-width { max-width: 880px; margin-inline: auto; }
.prose { max-width: 820px; width: calc(100% - 64px); margin-inline: auto; }
.skip-link { position: fixed; top: -100px; left: 15px; padding: 10px 16px; background: #fff; z-index: 100; }
.skip-link:focus { top: 10px; }
.site-header { position: sticky; top: 0; z-index: 50; padding: 16px 20px; border-bottom: 1px solid rgba(180,180,180,0.3); background: rgba(255,255,255,0.72); -webkit-backdrop-filter: blur(12px); backdrop-filter: blur(12px); }
.site-header nav { display: flex; align-items: center; justify-content: center; gap: 30px; font-size: 13px; }
.site-header a { color: var(--muted); }
.hero { padding-top: 48px; }
.hero h1 { max-width: 1060px; margin-inline: auto; text-align: center; }
.tagline { text-align: center; color: var(--muted); font-size: 17px; margin-top: 14px; }
.paper-links { display: flex; flex-wrap: wrap; justify-content: center; gap: 10px; margin: 27px 0 37px; }
.paper-button { display: inline-flex; align-items: center; gap: 9px; padding: 7px 20px; color: var(--bg); background: var(--ink); border-radius: 24px; font-size: 15px; }
.paper-button:hover { opacity: .85; text-decoration: none; }
.paper-button svg { height: 18px; width: 18px; fill: none; stroke: currentColor; stroke-width: 1.6; stroke-linecap: round; stroke-linejoin: round; }
.paper-button.disabled { background: #b0b0b0; cursor: default; pointer-events: none; }
.paper-button.disabled small { font-size: 11px; opacity: .7; }
.hero-figure { max-width: 640px; margin-inline: auto; }
.hero-figure > img { width: 100%; background: #fff; border-radius: 10px; padding: 10px; }
figcaption { font-size: 14px; line-height: 1.75; margin-top: 18px; color: var(--muted); }
figcaption strong { font-weight: 600; }
.hero-figure figcaption { max-width: 900px; margin-inline: auto; }
.section { padding-block: 58px; }
.abstract-section { margin-top: 48px; background: var(--pale); border-block: 1px solid var(--line); }
.abstract-section .prose p { text-align: justify; }
.authors { text-align: center; color: var(--muted); font-size: 16px; margin-top: 14px; min-height: 1em; }
.summary-list { margin: 0; padding-left: 22px; display: grid; gap: 14px; line-height: 1.75; }
.summary-list strong { font-weight: 600; }
.abstract-link { margin-top: 22px; font-size: 14px; color: var(--muted); }
.section-intro { max-width: 880px; margin-inline: auto; margin-bottom: 30px; }
.research-figure { margin-block: 29px; }
.research-figure figcaption { max-width: 880px; margin-inline: auto; }
.zoomable { display: block; position: relative; padding-bottom: 31px; color: var(--link); cursor: zoom-in; }
.zoomable img { width: 100%; background: #fff; border-radius: 10px; padding: 12px; }
.zoom-hint { position: absolute; bottom: 0; right: 0; font-size: 12px; text-decoration: underline; }
.zoomable:hover .zoom-hint { color: #094367; }
.research-figure figcaption { margin-top: 8px; }
.sensor-grid { display: grid; grid-template-columns: 1fr; gap: 40px; max-width: 600px; margin-inline: auto; }
.sensor-grid .research-figure { margin-block: 0; }
.sensor-grid > *, .highlights > *, .insights-grid > *, .metric-grid > * { min-width: 0; }
.highlights { display: grid; grid-template-columns: repeat(3, 1fr); gap: 28px; max-width: 980px; margin: 36px auto 0; }
.highlight h3 { font-size: 16px; margin-bottom: 6px; }
.highlight p { font-size: 14.5px; line-height: 1.7; color: var(--muted); }
.method-note { margin-top: 30px; font-size: 15px; color: var(--muted); text-align: center; }
.insights-grid { display: grid; grid-template-columns: 420px 1fr; gap: 40px; align-items: center; max-width: 980px; margin-inline: auto; }
.insights-grid .ratio-figure { margin-block: 0; max-width: none; }
.takeaways { display: grid; gap: 22px; }
.takeaway h3 { font-size: 16px; margin-bottom: 5px; }
.takeaway p { font-size: 14.5px; line-height: 1.7; color: var(--muted); }
.table-scroll { overflow-x: auto; }
table { width: 100%; border-collapse: collapse; font-variant-numeric: tabular-nums; }
caption { text-align: left; font-size: 13px; padding-bottom: 12px; color: var(--muted); }
#why, #sensor, #data, #method, #results, #live, #video, #insights { border-top: 1px solid var(--line); }
.abstract-section + #why { border-top: 0; }
.comparison-toolbar { display: flex; justify-content: center; align-items: center; gap: 18px; margin: 28px 0 22px; }
.comparison-toolbar p { font-size: 14px; }
.segmented { display: inline-flex; border: 1px solid var(--line); border-radius: 5px; overflow: hidden; flex-shrink: 0; }
.segmented button { padding: 8px 17px; border: 0; border-right: 1px solid var(--line); background: var(--bg); color: var(--muted); font-size: 13px; line-height: 1.5; }
.segmented button:last-child { border-right: 0; }
.segmented button[aria-pressed="true"] { background: var(--ink); color: var(--bg); }
.segmented button:hover:not([aria-pressed="true"]) { background: var(--pale); }
.segmented button:focus-visible { outline-offset: -3px; }
.metric-grid { max-width: 880px; margin-inline: auto; display: grid; grid-template-columns: repeat(3,1fr); padding-block: 21px; border-block: 1px solid var(--line); }
.metric-card { text-align: center; padding-inline: 18px; border-right: 1px solid var(--line); }
.metric-card:last-child { border-right: 0; }
.metric-card h3 { font-size: 14px; font-weight: 500; }
.metric-value { margin-top: 9px; font-size: 29px; font-weight: 500; line-height: 1.5; font-variant-numeric: tabular-nums; white-space: nowrap; }
.metric-value > span:first-child { display: inline-block; min-width: 4.2em; text-align: right; }
.metric-value > span:last-child { font-size: 12px; color: var(--muted); font-weight: 400; }
.metric-detail { font-size: 12px; color: var(--muted); margin-top: 2px; font-variant-numeric: tabular-nums; }
.result-context { font-size: 13px; color: var(--muted); max-width: 880px; margin: 18px auto 0; }
.table-heading { display: flex; justify-content: space-between; align-items: center; gap: 20px; margin-block: 38px 19px; }
.table-controls { display: flex; align-items: center; gap: 11px; font-size: 13px; }
.results-table-container table { text-align: right; min-width: 750px; font-size: 14px; }
.results-table-container thead { border-block: 1px solid var(--table-border); background: var(--card-bg); }
.results-table-container th, .results-table-container td { padding: 13px 12px; white-space: nowrap; }
.results-table-container thead th { font-size: 12px; font-weight: 500; }
.results-table-container thead span { color: var(--muted); font-size: 11px; font-weight: 400; }
.results-table-container th:first-child { text-align: left; }
.results-table-container tbody tr { border-bottom: 1px solid var(--table-row-border); }
.results-table-container tbody tr:last-child { border-bottom: 1px solid var(--table-border); }
.results-table-container tbody th { font-weight: 400; }
.results-table-container tr.ours { background: var(--ours-bg); }
.results-table-container tr.ours th, .results-table-container .best { font-weight: 600; }
.table-note { font-size: 13px; color: var(--muted); margin-top: 15px; }
.architecture { max-width: 760px; margin-inline: auto; }
.qualitative-figure { max-width: 820px; margin: 44px auto 0; }
.ratio-figure { max-width: 440px; margin-inline: auto; }
.ratio-figure figcaption { font-size: 13px; }
#citation { border-top: 1px solid #ededed; }
.bibtex-block { position: relative; max-width: 680px; margin-inline: auto; background: var(--pale); border: 1px solid var(--line); border-radius: 6px; padding: 20px 24px; }
.bibtex-block pre { margin: 0; overflow-x: auto; font-size: 13px; line-height: 1.7; font-family: "SFMono-Regular", Consolas, "Liberation Mono", Menlo, monospace; }
.bibtex-block code { color: var(--ink); }
.copy-bibtex { position: absolute; top: 12px; right: 12px; padding: 5px 14px; border: 1px solid var(--line); border-radius: 4px; background: var(--bg); font-size: 12px; color: var(--muted); }
.copy-bibtex:hover { background: var(--pale); color: var(--ink); }
.site-footer { padding: 26px 20px; margin-top: 10px; background: var(--footer-bg); display: flex; justify-content: center; align-items: center; gap: 26px; color: var(--muted); font-size: 12px; }
dialog { border: 1px solid var(--line); border-radius: 5px; width: min(1500px,96vw); max-width: 96vw; max-height: 94vh; padding: 49px 18px 15px; background: var(--dialog-bg); }
dialog::backdrop { background: var(--dialog-backdrop); }
#close-dialog { position: absolute; right: 15px; top: 8px; padding: 5px 10px; border: 0; border-radius: 3px; background: var(--pale); color: var(--ink); font-size: 13px; }
#close-dialog span { font-size: 20px; padding-left: 8px; }
.dialog-scroll { overflow: auto; max-height: 77vh; }
.dialog-scroll img { width: 100%; min-width: 850px; max-width: none; background: #fff; border-radius: 10px; padding: 12px; }
#figure-description { font-size: 12px; color: var(--muted); margin-top: 10px; }
.dialog-open { overflow: hidden; }
@media (max-width: 960px) {
  h1 { font-size: 37px; letter-spacing: -.9px; }
  .wrap, .prose { width: calc(100% - 48px); }
  .title-break { display: none; }
  .metric-value { font-size: 26px; }
  .insights-grid { grid-template-columns: 1fr; }
  .insights-grid .ratio-figure { max-width: 440px; margin-inline: auto; }
}
@media (max-width: 680px) {
  body { font-size: 15px; }
  .wrap, .prose { width: calc(100% - 36px); }
  .site-header { padding: 13px 12px; }
  .site-header nav { gap: 19px; font-size: 11px; }
  .hero { padding-top: 31px; }
  h1 { font-size: 30px; letter-spacing: -.6px; line-height: 1.3; }
  h2 { font-size: 26px; margin-bottom: 21px; }
  h3 { font-size: 19px; }
  .paper-links { margin-block: 21px 28px; }
  .paper-button { font-size: 13px; padding: 7px 18px; }
  .hero-figure figcaption, figcaption { font-size: 12px; }
  .abstract-section { margin-top: 34px; }
  .abstract-section p { font-size: 14px; }
  .section { padding-block: 39px; }
  .section-intro { margin-bottom: 24px; font-size: 14px; }
  .research-figure { margin-block: 23px; }
  .zoom-hint { font-size: 11px; }
  .tagline { font-size: 15px; }
  .summary-list { padding-left: 18px; font-size: 14px; }
  .sensor-grid { grid-template-columns: 1fr; gap: 24px; }
  .highlights { grid-template-columns: 1fr; gap: 18px; margin-top: 28px; }
  .highlight p, .takeaway p, .method-note { font-size: 14px; }
  caption { font-size: 12px; }
  .comparison-toolbar { flex-direction: column; gap: 10px; align-items: flex-start; margin-block: 24px 19px; }
  .comparison-toolbar p { font-size: 13px; }
  .segmented button { font-size: 12px; padding: 8px 15px; }
  .metric-grid { grid-template-columns: 1fr; padding: 0; }
  .metric-card { border-right: 0; border-bottom: 1px solid var(--line); padding: 16px 0; display: grid; grid-template-columns: 1fr auto; text-align: left; gap: 4px 10px; align-items: center; }
  .metric-card:last-child { border-bottom: 0; }
  .metric-card h3 { font-size: 13px; }
  .metric-value { grid-column: 2; grid-row: 1/3; margin-top: 0; font-size: 24px; text-align: right; }
  .metric-value > span:last-child { display: block; font-size: 11px; line-height: 1.1; }
  .metric-detail { grid-column: 1; font-size: 11px; margin-top: 0; }
  .result-context { font-size: 12px; }
  .table-heading { align-items: flex-start; flex-direction: column; margin-top: 28px; gap: 13px; }
  .results-table-container table { font-size: 12px; min-width: 690px; }
  .results-table-container th, .results-table-container td { padding: 11px 10px; }
  .results-table-container thead th { font-size: 11px; }
  .table-note, .technical-section .table-note { font-size: 12px; }
  .ratio-figure { width: 100%; }
  .bibtex-block { padding: 16px 14px; }
  .bibtex-block pre { font-size: 11px; }
  .copy-bibtex { top: 8px; right: 8px; padding: 4px 10px; font-size: 11px; }
  .site-footer { gap: 23px; font-size: 11px; }
  dialog { padding: 45px 10px 10px; }
  .dialog-scroll img { min-width: 1000px; }
}
@media (prefers-color-scheme: dark) {
  :root {
    --ink: #e0e0e0; --muted: #999; --link: #6db3e8; --line: #333; --pale: #1a1a1a;
    --bg: #111; --card-bg: #1a1a1a; --table-border: #555; --table-row-border: #2a2a2a;
    --ours-bg: #1a2230; --dialog-bg: #1a1a1a; --dialog-backdrop: rgba(0,0,0,.82);
    --footer-bg: #0d0d0d;
  }
  .paper-button { background: #ddd; color: #111; }
  .paper-button.disabled { background: #555; color: #999; }
  .skip-link { background: var(--bg); color: var(--ink); }
  .site-header { background: rgba(40,40,40,0.65); border-bottom-color: rgba(120,120,120,0.25); }
  .site-header a { color: #ccc; }
  .zoomable img, .dialog-scroll img { background: #fff; }
}
@media (prefers-reduced-motion: reduce) { html { scroll-behavior: auto; } }
@media print {
  .site-header, .paper-links, .segmented, .zoom-hint, .site-footer { display: none; }
  .wrap, .prose { width: 100%; }
  .section { padding-block: 25px; }
  .hero { padding-top: 0; }
  .research-figure, .metric-grid { break-inside: avoid; }
  .abstract-section { background: white; border: none; }
}

.video-figure { max-width: 820px; margin: 0 auto; }
.video-figure video { display: block; width: 100%; height: auto; border-radius: 8px; background: #000; }

.clip { margin: 0; }
.clip video { display: block; width: 100%; height: auto; border-radius: 6px; background: #000; }
.clip figcaption { text-align: center; font-size: 13px; margin-top: 8px; }
.clip-row { display: grid; grid-template-columns: repeat(2, 1fr); gap: 24px; max-width: 620px; margin: 28px auto 0; }
.clip-note { text-align: center; font-size: 14px; color: var(--muted); max-width: 720px; margin: 18px auto 0; }
.sub-title { font-size: 17px; text-align: center; margin: 26px 0 16px; }
.capture-row { display: flex; justify-content: center; align-items: flex-start; gap: 28px; }
.capture-row .clip video { width: auto; height: 340px; }
.capture-row .clip { max-width: 340px; }
.sim-grid { display: grid; grid-template-columns: repeat(4, 1fr); gap: 12px; max-width: 760px; margin-inline: auto; }
.live-row { display: grid; grid-template-columns: 1.7fr 1fr; gap: 28px; align-items: start; max-width: 960px; margin-inline: auto; }
@media (max-width: 680px) {
  .clip-row { gap: 14px; }
  .capture-row { flex-direction: column; align-items: center; }
  .capture-row .clip video { height: auto; width: 100%; }
  .sim-grid { grid-template-columns: repeat(2, 1fr); }
  .live-row { grid-template-columns: 1fr; }
  .chart-heading { flex-direction: column; align-items: flex-start; gap: 12px; }
  .chart-container { min-height: auto !important; }
  .chart-container svg { margin-bottom: 20px; }
}
.method-desc { margin-bottom: 24px; }
.method-desc ol { margin: 8px 0 0; padding-left: 22px; }
.method-desc li { margin-bottom: 4px; }
.chart-heading { display: flex; justify-content: space-between; align-items: center; gap: 20px; margin-block: 44px 24px; }
.chart-container { overflow-x: auto; }
.chart-container svg { font-family: var(--font); }
.chart-container { transition: opacity 0.3s ease; min-height: 460px; }