html, body {
  font-family: 'Noto Sans', sans-serif;
  overflow-x: hidden;
  max-width: 100%;
}

/* keep the carousel from pushing page width on small screens */
.results-carousel,
.results-carousel .slider,
.results-carousel .slider-container {
  max-width: 100%;
}

.footer .icon-link {
  font-size: 25px;
  color: #000;
}

.link-block a {
  margin-top: 5px;
  margin-bottom: 5px;
}

.dnerf {
  font-variant: small-caps;
}

.teaser .hero-body {
  padding-top: 0;
  padding-bottom: 3rem;
}

.teaser {
  font-family: 'Google Sans', sans-serif;
}

.publication-title {
  font-family: 'Google Sans', sans-serif;
}

.publication-authors {
  font-family: 'Google Sans', sans-serif;
}

.publication-venue {
  color: #555;
  width: fit-content;
  font-weight: bold;
}

.publication-authors a {
  color: hsl(204, 86%, 53%) !important;
}

.publication-authors a:hover {
  text-decoration: underline;
}

.author-block {
  display: inline-block;
}

.publication-video {
  position: relative;
  width: 100%;
  height: 0;
  padding-bottom: 56.25%;
  overflow: hidden;
  border-radius: 10px !important;
}

.publication-video iframe {
  position: absolute;
  top: 0;
  left: 0;
  width: 100%;
  height: 100%;
}

/* ---- disabled / pending links ---- */
.button.is-disabled-link {
  opacity: 0.55;
  cursor: not-allowed;
  pointer-events: none;
}

/* ---- hover tooltip (used on disabled links, whose pointer-events:none
   keeps the native title from showing, so the trigger sits on the wrapper) ---- */
.has-tooltip {
  position: relative;
  display: inline-block;
}

.has-tooltip::after {
  content: attr(data-tooltip);
  position: absolute;
  bottom: calc(100% + 10px);
  left: 50%;
  transform: translateX(-50%);
  background: #2b2b2b;
  color: #fff;
  padding: 0.45rem 0.75rem;
  border-radius: 6px;
  font-size: 0.78rem;
  line-height: 1.3;
  white-space: nowrap;
  opacity: 0;
  visibility: hidden;
  pointer-events: none;
  transition: opacity 0.15s ease, visibility 0.15s ease;
  z-index: 20;
}

.has-tooltip::before {
  content: '';
  position: absolute;
  bottom: calc(100% + 4px);
  left: 50%;
  transform: translateX(-50%);
  border: 6px solid transparent;
  border-top-color: #2b2b2b;
  opacity: 0;
  visibility: hidden;
  pointer-events: none;
  transition: opacity 0.15s ease, visibility 0.15s ease;
  z-index: 20;
}

.has-tooltip:hover::after,
.has-tooltip:hover::before {
  opacity: 1;
  visibility: visible;
}

/* ---- teaser + section videos ---- */
.rounded-video {
  border-radius: 12px;
  overflow: hidden;
  width: 100%;
  display: block;
  box-shadow: 0 6px 24px rgba(0, 0, 0, 0.12);
}

/* ---- carousel ---- */
.results-carousel {
  overflow: hidden;
}

.results-carousel .item {
  margin: 5px;
  overflow: hidden;
  border: 1px solid #bbb;
  border-radius: 10px;
  padding: 0;
}

.results-carousel .item img {
  display: block;
  width: 100%;
  height: 260px;
  object-fit: cover;
}

.carousel-caption {
  text-align: center;
  font-size: 0.9rem;
  color: #555;
  padding: 6px 8px;
  background: #fafafa;
}

/* ---- interactive trajectory embeds ---- */
.traj-embed {
  width: 100%;
  height: 340px;
  border: 1px solid #bbb;
  border-radius: 10px;
  background: #f5f5f5;
  display: block;
}

@media screen and (max-width: 768px) {
  .traj-embed {
    height: 300px;
  }
}

/* ---- trajectory gallery ---- */
.traj-tabs {
  display: flex;
  justify-content: center;
  gap: 0.5rem;
  margin: 1rem 0 1.75rem;
}

.traj-tab {
  border: 1px solid #d0d7e2;
  background: #fff;
  color: #333;
  padding: 0.5rem 1.4rem;
  border-radius: 999px;
  cursor: pointer;
  font-family: 'Google Sans', sans-serif;
  font-size: 0.95rem;
  transition: background 0.15s, border-color 0.15s, color 0.15s;
}

.traj-tab:hover { border-color: hsl(204, 80%, 60%); }

.traj-tab.is-active {
  background: hsl(204, 72%, 42%);
  border-color: hsl(204, 72%, 42%);
  color: #fff;
}

.traj-gallery {
  display: grid;
  grid-template-columns: repeat(auto-fill, minmax(230px, 1fr));
  gap: 1.1rem;
}

.traj-card {
  display: flex;
  flex-direction: column;
  padding: 0;
  border: 1px solid #e2e6ee;
  border-radius: 12px;
  overflow: hidden;
  background: #fff;
  cursor: pointer;
  text-align: left;
  font-family: inherit;
  transition: transform 0.15s, box-shadow 0.15s;
}

.traj-card:hover {
  transform: translateY(-3px);
  box-shadow: 0 8px 22px rgba(0, 0, 0, 0.12);
}

.traj-card:hover .traj-card-play {
  transform: translate(-50%, -50%) scale(1.08);
  background: hsl(204, 72%, 46%);
}

.traj-card-thumb {
  position: relative;
  display: block;
  width: 100%;
  aspect-ratio: 3 / 2;
  background: linear-gradient(135deg, #e9eef6, #d5dced);
  overflow: hidden;
}

.traj-card-thumb img {
  position: absolute;
  inset: 0;
  width: 100%;
  height: 100%;
  object-fit: cover;
}

.traj-card-play {
  position: absolute;
  top: 50%;
  left: 50%;
  transform: translate(-50%, -50%);
  width: 46px;
  height: 46px;
  border-radius: 50%;
  background: rgba(30, 90, 160, 0.85);
  color: #fff;
  display: flex;
  align-items: center;
  justify-content: center;
  box-shadow: 0 3px 10px rgba(0, 0, 0, 0.25);
  transition: transform 0.15s, background 0.15s;
}

.traj-card-play i { margin-left: 3px; }

.traj-card-label {
  display: flex;
  align-items: center;
  justify-content: space-between;
  gap: 0.5rem;
  padding: 0.6rem 0.8rem;
}

.traj-card-title {
  font-size: 0.9rem;
  color: #333;
  font-weight: 600;
}

.traj-card-badge {
  font-size: 0.72rem;
  font-weight: 700;
  padding: 0.15rem 0.55rem;
  border-radius: 999px;
  text-transform: uppercase;
  letter-spacing: 0.03em;
}

.traj-card-badge.env-dense { background: #ffedd5; color: #9a3412; }
.traj-card-badge.env-sparse { background: #dcfce7; color: #166534; }

/* lightbox */
.traj-lightbox {
  position: fixed;
  inset: 0;
  z-index: 1000;
  display: none;
  align-items: center;
  justify-content: center;
  padding: 2vh 2vw;
}

.traj-lightbox.is-open { display: flex; }

.traj-lightbox-backdrop {
  position: absolute;
  inset: 0;
  background: rgba(15, 20, 30, 0.72);
}

.traj-lightbox-inner {
  position: relative;
  width: min(1150px, 94vw);
  background: #fff;
  border-radius: 14px;
  overflow: hidden;
  box-shadow: 0 20px 60px rgba(0, 0, 0, 0.4);
  display: flex;
  flex-direction: column;
}

.traj-lightbox-bar {
  display: flex;
  align-items: center;
  justify-content: space-between;
  padding: 0.55rem 1rem;
  border-bottom: 1px solid #eee;
}

.traj-lightbox-title {
  font-family: 'Google Sans', sans-serif;
  font-weight: 600;
  color: #333;
  font-size: 0.95rem;
}

.traj-lightbox-close {
  border: none;
  background: transparent;
  font-size: 1.8rem;
  line-height: 1;
  color: #666;
  cursor: pointer;
  padding: 0 0.3rem;
}

.traj-lightbox-close:hover { color: #000; }

.traj-lightbox-frame-wrap {
  width: 100%;
  height: 78vh;
  background: #f5f5f5;
}

.traj-lightbox-frame-wrap iframe {
  width: 100%;
  height: 100%;
  border: 0;
  display: block;
}

@media screen and (max-width: 768px) {
  .traj-lightbox-frame-wrap { height: 66vh; }
}

/* ---- figures ---- */
.figure-card {
  text-align: center;
}

.figure-card img {
  border-radius: 8px;
  max-width: 100%;
}

.figure-caption {
  font-size: 0.9rem;
  color: #555;
  margin-top: 0.75rem;
}

/* ---- contributions ---- */
.contrib-list {
  list-style: none;
  margin-left: 0;
}

.contrib-list li {
  position: relative;
  padding-left: 1.9rem;
  margin-bottom: 0.85rem;
}

.contrib-list li .fa-check {
  position: absolute;
  left: 0;
  top: 0.25rem;
  color: hsl(141, 71%, 42%);
}

/* ---- results table ---- */
.results-table-wrapper {
  overflow-x: auto;
  border-radius: 10px;
}

table.results-table {
  border-collapse: collapse;
  width: 100%;
  font-size: 0.85rem;
  min-width: 720px;
}

table.results-table th,
table.results-table td {
  padding: 6px 9px;
  text-align: center;
  border-bottom: 1px solid #ededed;
  white-space: nowrap;
}

table.results-table thead th {
  border-bottom: 2px solid #cfcfcf;
  font-weight: 600;
}

table.results-table td.metric,
table.results-table th.metric {
  text-align: right;
}

table.results-table td.constr,
table.results-table td.planner {
  text-align: left;
}

table.results-table tr.platform-row td {
  background: #f0f4ff;
  font-weight: 700;
  text-align: left;
  letter-spacing: 0.03em;
  border-bottom: 2px solid #cfcfcf;
}

table.results-table tr.ours td {
  background: #f4f9ff;
}

table.results-table td.best {
  color: hsl(204, 72%, 40%);
  font-weight: 700;
}

table.results-table td.best-online {
  text-decoration: underline;
  text-decoration-thickness: 2px;
  text-underline-offset: 2px;
}

table.results-table td.fail {
  color: #c0392b;
}

.table-legend {
  font-size: 0.82rem;
  color: #666;
  margin-top: 0.75rem;
}

/* ---- placeholder ---- */
.placeholder-box {
  border: 2px dashed #c7c7c7;
  border-radius: 12px;
  background: #fbfbfb;
  padding: 3rem 1.5rem;
  text-align: center;
  color: #888;
}

.placeholder-box .fa-window-maximize {
  font-size: 2.4rem;
  margin-bottom: 0.75rem;
  color: #bbb;
}

/* ---- stat highlight row ---- */
.stat-tiles {
  display: flex;
  flex-wrap: wrap;
  gap: 1rem;
  justify-content: center;
  margin: 1.5rem 0 0.5rem;
}

.stat-tile {
  flex: 1 1 180px;
  max-width: 240px;
  background: #f4f9ff;
  border: 1px solid #e0ecff;
  border-radius: 12px;
  padding: 1.1rem 1rem;
  text-align: center;
}

.stat-tile .stat-number {
  font-family: 'Google Sans', sans-serif;
  font-size: 1.9rem;
  font-weight: 700;
  color: hsl(204, 72%, 42%);
  line-height: 1.1;
}

.stat-tile .stat-label {
  font-size: 0.85rem;
  color: #555;
  margin-top: 0.35rem;
}

/* ---- citation / bibtex ---- */
.bibtex-box {
  position: relative;
  margin-top: 1rem;
}

.bibtex-box pre {
  border: 1px solid #e2e6ee;
  border-radius: 10px;
  margin: 0;
  padding-right: 3rem;
}

.bibtex-copy-btn {
  position: absolute;
  top: 0.6rem;
  right: 0.6rem;
  width: 32px;
  height: 32px;
  border: 1px solid #d0d7e2;
  border-radius: 8px;
  background: #fff;
  color: #555;
  cursor: pointer;
  display: flex;
  align-items: center;
  justify-content: center;
  font-size: 0.9rem;
  transition: background 0.15s, border-color 0.15s, color 0.15s;
}

.bibtex-copy-btn:hover {
  border-color: hsl(204, 80%, 60%);
  color: hsl(204, 72%, 42%);
}

.bibtex-copy-btn.is-copied {
  border-color: hsl(141, 71%, 42%);
  color: hsl(141, 71%, 42%);
}