body {
  font-family: 'Noto Sans', sans-serif;
}

.math-inline {
  font-family: "Times New Roman", Times, serif;
  white-space: nowrap;
}

mjx-container {
  font-family: "Times New Roman", Times, serif !important;
}

.math-roman {
  font-style: normal;
}

.math-vector {
  font-family: "Times New Roman", Times, serif;
  font-style: normal;
  font-weight: 700;
}


.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 {
}

.publication-banner {
  max-height: parent;

}

.publication-banner video {
  position: relative;
  left: auto;
  top: auto;
  transform: none;
  object-fit: fit;
}

.publication-header .hero-body {
}

.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-awards {
    color: #ff3860;
    width: fit-content;
    font-weight: bolder;
}

.publication-authors {
}

.funding-note {
  margin-top: 0.55rem;
  margin-bottom: 0.25rem;
  color: #4b5563;
  font-size: 0.95rem;
  line-height: 1.5;
  text-align: center;
}

.school-logo-row {
  margin-top: 0.5rem;
  margin-bottom: 0.2rem;
  display: flex;
  justify-content: center;
  align-items: center;
  gap: 1.15rem;
  flex-wrap: wrap;
}

.school-logo {
  display: block;
  width: auto;
  height: 74px;
  object-fit: contain;
}

.school-logo-uic {
  height: 68px;
}

.school-logo-uncc {
  height: 64px;
}

.school-logo-tamu {
  height: 74px;
}

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

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

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

.publication-banner img {
}

.publication-authors {
  /*color: #4286f4;*/
}

.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%;
}

.publication-body img {
}

.results-carousel {
  overflow: hidden;
}

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

.results-carousel video {
  margin: 0;
}


.interpolation-panel {
  background: #f5f5f5;
  border-radius: 10px;
}

.interpolation-panel .interpolation-image {
  width: 100%;
  border-radius: 5px;
}

.interpolation-video-column {
}

.interpolation-panel .slider {
  margin: 0 !important;
}

.interpolation-panel .slider {
  margin: 0 !important;
}

#interpolation-image-wrapper {
  width: 100%;
}
#interpolation-image-wrapper img {
  border-radius: 5px;
}

.center-image {
  display: block;
  margin-left: auto;
  margin-right: auto;
  margin-top: auto;
  margin-bottom: auto;
}

.simulation-image {
  height:  500px;
  width:  auto;
}

.paper-figure {
  margin: 1.5rem 0 2.5rem;
}

.paper-figure-snapshots .figure-grid.is-3 {
  width: fit-content;
  max-width: 100%;
  grid-template-columns: repeat(3, minmax(0, 20em));
  margin: 0 auto;
}

.paper-figure-medium {
  width: fit-content;
  max-width: 100%;
  display: flex;
  flex-direction: column;
  align-items: center;
  margin: 1.5rem auto 2.5rem;
}

.paper-figure-medium .figure-grid {
  width: fit-content;
  max-width: 100%;
  margin: 0 auto;
  justify-content: center;
}

.paper-figure-medium .figure-grid.is-2 {
  grid-template-columns: repeat(2, minmax(0, 20em));
}

.figure-grid {
  display: grid;
  gap: 0.8rem;
}

.figure-grid.is-2 {
  grid-template-columns: repeat(2, minmax(0, 1fr));
}

.figure-grid.is-3 {
  grid-template-columns: repeat(3, minmax(0, 1fr));
}

.quantitative-grid .figure-card img {
  height: 260px;
  object-fit: contain;
}

.figure-grid.is-4 {
  grid-template-columns: repeat(4, minmax(0, 1fr));
}

.figure-card {
  padding: 0;
}

.figure-card img,
.single-figure-frame img {
  display: block;
  width: 100%;
  height: auto;
  border-radius: 6px;
}

.single-figure-frame {
  width: 56rem;
  max-width: 100%;
  margin: 0 auto;
  padding: 0;
}

.subfigure-caption {
  margin: 0.45rem 0 0;
  color: #334155;
  font-size: 0.94rem;
  line-height: 1.45;
}

.paper-figure figcaption {
  margin-top: 1rem;
  color: #12263a;
  font-weight: 600;
  line-height: 1.6;
}

.figure-description {
  margin-top: 0.5rem;
  color: #4a4a4a;
  line-height: 1.7;
}

.reference-note {
  font-size: 0.95rem;
  color: #5b6675;
  line-height: 1.7;
}

.video-grid {
  display: grid;
  gap: 1rem;
  grid-template-columns: repeat(3, minmax(0, 1fr));
  margin: 1rem 0 2.5rem;
  align-items: start;
}

.video-grid-2x2 {
  grid-template-columns: repeat(2, minmax(0, 1fr));
  max-width: 760px;
  margin-left: auto;
  margin-right: auto;
}

.video-grid-2x2 .video-group {
  max-width: 360px;
  margin-left: auto;
  margin-right: auto;
}

.two-robot-grid {
  max-width: 780px;
}

.two-robot-grid .video-group {
  max-width: 360px;
}

.two-robot-grid .paper-video {
  width: 100%;
  max-height: 360px;
}

.corridor-top-row {
  margin-bottom: 1rem;
}

.corridor-bottom-row {
  margin-top: 0;
}

.video-group {
  display: flex;
  flex-direction: column;
  gap: 1rem;
  max-width: 360px;
  margin-left: auto;
  margin-right: auto;
}

.video-panel {
  display: flex;
  justify-content: center;
}

.comparison-video {
  display: block;
  width: 100%;
  height: auto;
  aspect-ratio: auto;
  border: 1px solid #d7dee7;
  border-radius: 10px;
  background: #000;
  object-fit: contain;
}

.comparison-video::-webkit-media-controls {
  display: none !important;
}

.comparison-video::-webkit-media-controls-enclosure {
  display: none !important;
}

.paper-video {
  display: block;
  width: auto;
  max-width: 100%;
  max-height: 360px;
  height: auto;
  aspect-ratio: auto;
  border: 1px solid #d7dee7;
  border-radius: 10px;
  background: #000;
  object-fit: contain;
}

.video-marker {
  color: #1f78ff;
  font-weight: 700;
  -webkit-text-stroke: 0.85px #000;
  text-shadow:
    -0.65px 0 #000,
    0.65px 0 #000,
    0 -0.65px #000,
    0 0.65px #000;
}

.video-caption {
  margin-top: 0;
  color: #334155;
  font-size: 0.95rem;
  line-height: 1.45;
  text-align: center;
}

.nsf-logo-row {
  width: 100%;
  max-width: 1112px;
  margin-top: 0.9rem;
  margin-bottom: 0.2rem;
  margin-left: auto;
  margin-right: auto;
  display: flex;
  justify-content: flex-end;
}

.nsf-logo-image {
  width: auto;
  height: 110px;
  object-fit: contain;
}

.section-anchor {
  scroll-margin-top: 2rem;
}

#more-research .content p {
  max-width: 56rem;
  margin: 0 auto 0.75rem;
  color: #4b5563;
}

.research-card {
  height: 100%;
  display: flex;
  flex-direction: column;
  gap: 0.8rem;
  padding: 1.35rem 1.4rem;
  border: 1px solid #dbe5f3;
  border-radius: 14px;
  background: linear-gradient(180deg, #ffffff 0%, #f8fbff 100%);
  box-shadow: 0 8px 22px rgba(15, 23, 42, 0.06);
  transition: transform 0.22s ease, box-shadow 0.22s ease, border-color 0.22s ease;
}

.research-card:hover {
  transform: translateY(-4px);
  border-color: #b9cff3;
  box-shadow: 0 14px 30px rgba(15, 23, 42, 0.1);
}

.research-card .title {
  margin-bottom: 0.58rem;
  line-height: 1.15;
  letter-spacing: -0.01em;
  color: #1f2937;
}

.research-card .subtitle {
  margin-bottom: 0;
  line-height: 1.38;
  color: #4b5563;
}

.research-actions {
  margin-top: auto !important;
  margin-bottom: 0 !important;
  gap: 0.55rem;
}

.research-actions .button {
  margin: 0 !important;
  border-radius: 999px;
  border: 1px solid #c7d7ee;
  background: #edf3ff !important;
  color: #1e4fa3 !important;
  font-weight: 600;
  padding-left: 1rem;
  padding-right: 1rem;
  box-shadow: inset 0 0 0 1px rgba(255, 255, 255, 0.3);
  transition: transform 0.2s ease, background-color 0.2s ease, border-color 0.2s ease, color 0.2s ease;
}

.research-actions .button:hover {
  transform: translateY(-1px);
  background: #dfeaff !important;
  border-color: #abc2e7;
  color: #163e88 !important;
}

@media screen and (max-width: 1023px) {
  .figure-grid.is-3,
  .figure-grid.is-4 {
    grid-template-columns: repeat(2, minmax(0, 1fr));
  }

  .video-grid {
    grid-template-columns: repeat(2, minmax(0, 1fr));
  }
}

@media screen and (max-width: 768px) {
  .figure-grid.is-2,
  .figure-grid.is-3,
  .figure-grid.is-4 {
    grid-template-columns: 1fr;
  }

  .paper-figure-medium .figure-grid {
    width: 100%;
  }

  .video-grid {
    grid-template-columns: 1fr;
  }

  .video-group {
    max-width: 100%;
  }

  .paper-video {
    max-height: 300px;
  }

  .nsf-logo-image {
    height: 88px;
  }

  .school-logo {
    height: 54px;
  }

  .school-logo-uic {
    height: 50px;
  }

  .school-logo-uncc {
    height: 44px;
  }

  .school-logo-tamu {
    height: 54px;
  }

  .research-card {
    padding: 1.1rem 1rem;
  }

  .research-actions {
    gap: 0.45rem;
  }

}