:root {
  --ink: #172133;
  --muted: #5f6b7a;
  --line: #dce3eb;
  --soft: #f5f8fb;
  --blue: #1677c8;
  --blue-dark: #0e548f;
  --orange: #e97b22;
  --white: #ffffff;
  --shadow: 0 18px 50px rgba(28, 54, 83, 0.1);
}

* { box-sizing: border-box; }
html { scroll-behavior: smooth; }
body {
  margin: 0;
  color: var(--ink);
  background: var(--white);
  font-family: "Noto Sans", Arial, sans-serif;
  font-size: 16px;
  line-height: 1.7;
}
img { max-width: 100%; }
a { color: var(--blue-dark); }
.container { width: min(920px, calc(100% - 40px)); margin-inline: auto; }
.wide-container { width: min(1160px, calc(100% - 32px)); margin-inline: auto; }

.publication-header {
  padding: 76px 0 32px;
  text-align: center;
  background:
    radial-gradient(circle at 50% -15%, rgba(22, 119, 200, 0.14), transparent 38%),
    linear-gradient(180deg, #fbfdff 0%, #ffffff 100%);
}
.hero-content { max-width: 1040px; }
.paper-kicker {
  margin: 0 0 14px;
  color: var(--blue-dark);
  font-family: "Google Sans", "Noto Sans", sans-serif;
  font-size: 0.82rem;
  font-weight: 600;
  letter-spacing: 0.12em;
  text-transform: uppercase;
}
h1, h2, h3 { font-family: "Google Sans", "Noto Sans", sans-serif; }
h1 {
  max-width: 980px;
  margin: 0 auto;
  font-size: clamp(2.25rem, 5vw, 4.15rem);
  line-height: 1.08;
  letter-spacing: -0.045em;
}
h1 strong { color: var(--blue-dark); }
h1 span { color: var(--orange); }
.title-follow { margin-top: 25px; }
.authors { display: flex; justify-content: center; flex-wrap: wrap; gap: 2px 18px; font-size: 1rem; }
.authors span { white-space: nowrap; }
.authors .author-line-break { flex-basis: 100%; height: 0; }
sup { font-size: 0.66em; line-height: 0; }
.affiliations { margin: 10px 0 0; color: var(--muted); font-size: 0.92rem; }
.contribution-note { max-width: 760px; margin: 7px auto 0; color: #7a8491; font-size: 0.75rem; }
.publication-links { display: flex; justify-content: center; flex-wrap: wrap; gap: 10px; margin-top: 25px; }
.publication-links.left-aligned { justify-content: flex-start; }
.button {
  display: inline-flex;
  align-items: center;
  gap: 9px;
  min-height: 42px;
  padding: 8px 18px;
  border: 1px solid #26364d;
  border-radius: 999px;
  color: var(--white);
  background: #26364d;
  font-family: "Google Sans", sans-serif;
  font-size: 0.92rem;
  font-weight: 600;
  line-height: 1;
  text-decoration: none;
  transition: transform 160ms ease, background 160ms ease, border-color 160ms ease;
}
.button-icon { width: 18px; height: 18px; flex: none; fill: currentColor; }
.button:hover { transform: translateY(-1px); background: var(--blue-dark); border-color: var(--blue-dark); }
.button:focus-visible { outline: 3px solid rgba(22, 119, 200, 0.3); outline-offset: 3px; }
.youtube-button { background: #ff0033; border-color: #ff0033; }
.youtube-button:hover { background: #d9002b; border-color: #d9002b; }
.muted-button { color: var(--muted); background: var(--white); border-color: var(--line); }
.muted-button:hover { color: var(--ink); background: var(--soft); border-color: #b8c4d1; }

.teaser-section { padding: 20px 0 56px; }
.video-container { max-width: 940px; }
.video-container h2 {
  margin: 0 0 18px;
  font-size: 1.45rem;
  line-height: 1.3;
  text-align: center;
}
.video-container h2 span { color: var(--muted); font-size: 0.78em; font-weight: 500; }
.video-frame {
  position: relative;
  overflow: hidden;
  aspect-ratio: 16 / 9;
  border: 1px solid var(--line);
  border-radius: 12px;
  background: #0f1722;
  box-shadow: var(--shadow);
}
.video-frame iframe { position: absolute; inset: 0; width: 100%; height: 100%; border: 0; }
.video-poster { display: block; width: 100%; height: 100%; background: #fff; }
.video-poster img { display: block; width: 100%; height: 100%; object-fit: cover; transition: filter 160ms ease, transform 160ms ease; }
.video-poster:hover img { filter: brightness(0.94); transform: scale(1.005); }
.video-poster:focus-visible { outline: 4px solid rgba(22, 119, 200, 0.65); outline-offset: -4px; }
.video-note { margin: 15px auto 0; text-align: center; }
.youtube-watch {
  display: inline-flex;
  align-items: center;
  gap: 9px;
  padding: 9px 17px;
  border-radius: 7px;
  color: var(--white);
  background: #282828;
  font-family: "Google Sans", "Noto Sans", sans-serif;
  font-size: 0.9rem;
  font-weight: 700;
  text-decoration: none;
  transition: background 160ms ease, transform 160ms ease;
}
.youtube-watch svg { width: 23px; height: 23px; fill: #ff0033; }
.youtube-watch:hover { color: var(--white); background: #111; transform: translateY(-1px); }
.youtube-watch:focus-visible { outline: 3px solid rgba(255, 0, 51, 0.28); outline-offset: 3px; }
.paper-figure { margin: 0; }
.paper-figure img { display: block; width: 100%; height: auto; }
figcaption { max-width: 920px; margin: 15px auto 0; color: var(--muted); font-size: 0.88rem; line-height: 1.55; text-align: center; }

.stat-band { border-block: 1px solid var(--line); background: var(--soft); }
.stats { display: grid; grid-template-columns: repeat(4, 1fr); }
.stats div { padding: 24px 18px; text-align: center; border-right: 1px solid var(--line); }
.stats div:last-child { border-right: 0; }
.stats strong { display: block; color: var(--blue-dark); font-family: "Google Sans", sans-serif; font-size: 1.65rem; line-height: 1.15; }
.stats span { display: block; margin-top: 5px; color: var(--muted); font-size: 0.78rem; }

.section { padding-block: 82px; }
.section-tint { background: var(--soft); border-block: 1px solid var(--line); }
.section h2 { margin: 0 0 24px; font-size: clamp(1.75rem, 3vw, 2.35rem); line-height: 1.2; letter-spacing: -0.025em; text-align: center; }
.prose { max-width: 820px; margin: 0 auto; font-size: 1.04rem; text-align: justify; }
.prose p:first-child { margin-top: 0; }
.prose p:last-child { margin-bottom: 0; }
.section-intro { max-width: 780px; margin: -8px auto 34px; color: var(--muted); text-align: center; }
.math { color: var(--ink); white-space: nowrap; font-family: Georgia, serif; }
.method-figure { padding: 20px; border: 1px solid var(--line); border-radius: 12px; background: var(--white); box-shadow: 0 10px 32px rgba(28, 54, 83, 0.06); }
.method-grid { display: grid; grid-template-columns: repeat(3, 1fr); gap: 18px; margin-top: 38px; }
.method-grid article { padding: 24px; border: 1px solid var(--line); border-radius: 10px; background: var(--white); }
.step { color: var(--orange); font-family: "Google Sans", sans-serif; font-size: 0.8rem; font-weight: 700; letter-spacing: 0.12em; }
.method-grid h3 { margin: 16px 0 8px; font-size: 1.08rem; }
.method-grid p { margin: 0; color: var(--muted); font-size: 0.9rem; line-height: 1.65; }

.table-wrap { overflow-x: auto; border: 1px solid var(--line); border-radius: 10px; }
table { width: 100%; min-width: 690px; border-collapse: collapse; font-variant-numeric: tabular-nums; }
th, td { padding: 15px 18px; border-bottom: 1px solid var(--line); text-align: left; }
th { color: var(--muted); background: var(--soft); font-size: 0.78rem; font-weight: 700; letter-spacing: 0.04em; text-transform: uppercase; }
tbody tr:last-child td { border-bottom: 0; }
tbody tr:hover { background: #fafdff; }
.tag { display: inline-block; padding: 3px 9px; border-radius: 999px; font-size: 0.76rem; font-weight: 600; }
.in-domain { color: #0b629f; background: #e8f4fd; }
.zero-shot { color: #a64e0d; background: #fff0e3; }
.held-out-note { margin-top: 22px; padding: 18px 20px; border-left: 4px solid var(--orange); color: var(--muted); background: #fff8f2; font-size: 0.91rem; }
.held-out-note strong { color: var(--ink); }

.section-heading { width: min(920px, calc(100% - 8px)); }
.scene-legend { display: flex; justify-content: center; flex-wrap: wrap; gap: 12px 24px; margin: -8px 0 24px; color: var(--muted); font-size: 0.86rem; }
.scene-legend span { display: inline-flex; align-items: center; gap: 7px; }
.legend-swatch { width: 11px; height: 11px; border-radius: 50%; box-shadow: 0 0 0 1px rgba(23, 33, 51, 0.14); }
.lidar-swatch { background: linear-gradient(135deg, rgb(190, 229, 255), rgb(0, 145, 255)); }
.gt-swatch { background: rgb(4, 116, 43); }
.zil-swatch { background: rgb(255, 128, 0); }
.interactive-scenes { display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 20px; }
.scene-card { overflow: hidden; border: 1px solid var(--line); border-radius: 12px; background: var(--white); box-shadow: 0 10px 32px rgba(28, 54, 83, 0.07); }
.scene-title { display: flex; align-items: baseline; justify-content: space-between; gap: 14px; padding: 15px 18px; border-bottom: 1px solid var(--line); }
.scene-title h3 { margin: 0; font-size: 1rem; }
.scene-title span { color: var(--muted); font-size: 0.78rem; }
.scene-query-image { display: block; width: 100%; height: auto; aspect-ratio: 518 / 280; object-fit: contain; background: #0f1722; }
.scene-card model-viewer { display: block; width: 100%; height: 390px; background: linear-gradient(180deg, #f9fcff, #edf4f9); --progress-bar-color: var(--orange); }
.sample-use-note { margin: 16px 0 0; color: var(--muted); font-size: 0.85rem; font-style: italic; text-align: right; }
.use-grid { display: grid; grid-template-columns: minmax(0, 0.82fr) minmax(0, 1.18fr); gap: 50px; align-items: center; }
.use-grid h2, .use-grid .section-intro { text-align: left; }
.use-grid .section-intro { margin-left: 0; }
pre { margin: 0; padding: 24px; overflow-x: auto; border: 1px solid #25354b; border-radius: 10px; color: #dceaff; background: #172133; font: 0.88rem/1.75 ui-monospace, SFMono-Regular, Menlo, Consolas, monospace; }
code span { color: #7dc4ff; }
code i { color: #ffb476; font-style: normal; }
.install-command { margin-top: 14px; padding: 15px 18px; font-size: 0.79rem; line-height: 1.65; }
.cache-note { margin: 18px 0 0; color: var(--muted); font-size: 0.84rem; line-height: 1.6; }
.cache-note code { overflow-wrap: anywhere; color: var(--ink); font: 0.82rem/1.5 ui-monospace, SFMono-Regular, Menlo, Consolas, monospace; }
.code-label { margin: 0 0 10px; color: var(--muted); font-size: 0.78rem; font-weight: 700; letter-spacing: 0.08em; text-transform: uppercase; }

.citation-section { color: #dce4ef; background: #172133; }
.citation-grid { display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 48px; }
.citation-grid > div { min-width: 0; }
.citation-grid h2 { color: var(--white); text-align: left; }
.citation-grid p { margin: 0; color: #aeb9c8; font-size: 0.94rem; }
.citation-grid pre { width: 100%; white-space: pre-wrap; overflow-wrap: anywhere; }
footer { padding: 30px 0; border-top: 1px solid #314158; color: #aeb9c8; background: #172133; font-size: 0.82rem; }
.footer-content { display: flex; align-items: center; gap: 14px; }
.footer-content img { filter: brightness(0) invert(1); opacity: 0.9; }
.footer-content p { margin: 0; line-height: 1.5; }
.footer-content strong { color: var(--white); }
.footer-right { margin-left: auto !important; text-align: right; }

@media (max-width: 760px) {
  .publication-header { padding-top: 52px; }
  .stats { grid-template-columns: repeat(2, 1fr); }
  .stats div:nth-child(2) { border-right: 0; }
  .stats div:nth-child(-n+2) { border-bottom: 1px solid var(--line); }
  .method-grid, .interactive-scenes, .use-grid, .citation-grid { grid-template-columns: 1fr; }
  .use-grid { gap: 30px; }
  .section { padding-block: 62px; }
  .prose { text-align: left; }
  .method-figure { padding: 8px; }
  .scene-card model-viewer { height: 340px; }
}

@media (max-width: 480px) {
  .container { width: min(100% - 28px, 920px); }
  .wide-container { width: min(100% - 20px, 1160px); }
  .authors { font-size: 0.9rem; gap: 1px 12px; }
  .button { min-height: 40px; padding-inline: 14px; font-size: 0.84rem; }
  .stats div { padding-inline: 8px; }
  .stats strong { font-size: 1.35rem; }
  .footer-content { align-items: flex-start; flex-wrap: wrap; }
  .footer-right { width: 100%; margin-left: 56px !important; text-align: left; }
}

@media (prefers-reduced-motion: reduce) {
  html { scroll-behavior: auto; }
  *, *::before, *::after { transition: none !important; }
}