:root {
  --ink:#24272d;
  --muted:#636872;
  --accent:#cc5538;
  --accent-dark:#aa3b22;
  --line:#e3e5e8;
  --soft:#f7f8fa;
  --blue:#2076a5;
  --radius:12px;
}
* {
  box-sizing:border-box;
}
html {
  scroll-behavior:smooth;
  scroll-padding-top:90px;
}
body {
  margin:0;
  color:var(--ink);
  background:#fff;
  font-family:Inter,-apple-system,BlinkMacSystemFont,"Segoe UI",Arial,sans-serif;
  font-size:17px;
  line-height:1.65;
  -webkit-font-smoothing:antialiased;
}
a {
  color:var(--blue);
  text-decoration:none;
}
a:hover {
  text-decoration:underline;
}
button,input {
  font:inherit;
}
button,a,input {
  -webkit-tap-highlight-color:transparent;
}
button {
  cursor:pointer;
}
button:disabled {
  cursor:wait;
}
a:focus-visible,button:focus-visible,input:focus-visible,[tabindex]:focus-visible {
  outline:3px solid var(--blue);
  outline-offset:5px;
}
img,video {
  display:block;
  width:100%;
  height:auto;
}
figure,p,h1,h2,h3 {
  margin:0;
}
p+p {
  margin-top:1em;
}
h1,h2,h3 {
  line-height:1.2;
  letter-spacing:-.035em;
}
h2 {
  font-size:34px;
  font-weight:700;
}
h3 {
  font-size:23px;
  font-weight:650;
}
sup {
  font-size:.68em;
  margin-left:2px;
}
sub {
  font-size:.65em;
}
.container {
  width:min(1100px,calc(100% - 64px));
  margin-inline:auto;
}
.reading-width {
  max-width:840px;
  margin-inline:auto;
}
.section {
  padding-block:76px;
}
.tinted {
  background:var(--soft);
}
.section-heading {
  margin-bottom:34px;
}
.section-heading p:last-child {
  max-width:760px;
  margin:15px auto 0;
  color:var(--muted);
}
.centered {
  text-align:center;
}
.eyebrow {
  font-size:12px;
  letter-spacing:.16em;
  text-transform:uppercase;
  color:var(--accent);
  font-weight:700;
  margin-bottom:13px;
}
.site-header {
  height:66px;
  border-bottom:1px solid #edf0f2;
  background:rgba(255,255,255,.96);
}
.nav {
  height:100%;
  display:flex;
  align-items:center;
  justify-content:space-between;
  gap:20px;
}
.wordmark {
  font-size:20px;
  font-weight:750;
  letter-spacing:-.05em;
  color:var(--ink);
}
.wordmark span {
  color:var(--accent);
}
.wordmark:hover {
  text-decoration:none;
}
.nav-links {
  display:flex;
  gap:27px;
  align-items:center;
  font-size:13px;
  font-weight:550;
}
.nav-links a {
  color:var(--muted);
}
.nav-links a:hover {
  color:var(--accent);
  text-decoration:none;
}
.nav-links .related-link {
  padding-left:25px;
  border-left:1px solid var(--line);
}
.hero {
  padding-top:58px;
  padding-bottom:64px;
  text-align:center;
}
.venue {
  color:var(--accent);
  font-size:14px;
  font-weight:650;
  letter-spacing:.015em;
}
.venue span {
  display:inline-block;
  margin-left:5px;
}
.project-name {
  display:block;
  color:var(--accent);
  font-size:60px;
  font-weight:760;
  letter-spacing:-.055em;
  margin:14px 0 10px;
}
.paper-subtitle {
  display:block;
  font-size:39px;
  font-weight:680;
  line-height:1.22;
  letter-spacing:-.035em;
}
.authors {
  display:flex;
  justify-content:center;
  flex-wrap:wrap;
  gap:7px 24px;
  font-size:19px;
  margin-top:27px;
}
.authors>span {
  white-space:nowrap;
}
.affiliations {
  display:flex;
  flex-wrap:wrap;
  justify-content:center;
  gap:5px 22px;
  font-size:15px;
  margin-top:9px;
  color:var(--muted);
}
.publication-links {
  display:flex;
  justify-content:center;
  flex-wrap:wrap;
  gap:10px;
  margin:25px 0 39px;
}
.button {
  display:inline-flex;
  align-items:center;
  justify-content:center;
  gap:8px;
  min-height:42px;
  padding:8px 20px;
  border:1px solid var(--line);
  border-radius:25px;
  background:#fff;
  font-size:14px;
  font-weight:600;
  color:var(--ink);
  line-height:1.4;
  transition:background .15s,border-color .15s;
}
.button:hover {
  background:#eef0f3;
  border-color:#c8cdd3;
  text-decoration:none;
}
.button svg {
  width:18px;
  height:18px;
}
.button-primary {
  color:#fff;
  background:var(--ink);
  border-color:var(--ink);
}
.button-primary:hover {
  background:#41464f;
  border-color:#41464f;
}
.teaser {
  max-width:960px;
  margin-inline:auto;
}
.teaser img {
  width:100%;
}
.teaser figcaption {
  font-size:17px;
  color:var(--muted);
  margin:24px auto 0;
}
.teaser figcaption strong {
  font-weight:600;
  color:var(--ink);
  font-size:20px;
}
.legend {
  display:flex;
  justify-content:center;
  gap:22px;
  flex-wrap:wrap;
  margin-top:15px;
  font-size:12px;
  color:var(--muted);
}
.legend>span {
  display:flex;
  align-items:center;
  gap:6px;
}
.swatch {
  width:11px;
  height:11px;
  border:2px solid;
  display:inline-block;
}
.swatch.ours {
  border-color:#00c5d7;
}
.swatch.baseline {
  border-color:#32ca2c;
}
.swatch.human {
  border-color:#f52b29;
}
.figure-link {
  display:block;
  border-radius:5px;
  transition:opacity .15s;
}
.figure-link:hover {
  opacity:.9;
}
.novel-examples {
  display:grid;
  grid-template-columns:repeat(2,minmax(0,1fr));
  gap:28px;
}
.novel-examples .paper-figure figcaption {
  margin-top:14px;
}
.novel-examples figcaption strong {
  color:var(--ink);
}
.figure-source {
  color:var(--muted);
  text-align:center;
  font-size:12px;
  margin-top:22px;
}
.novel-evaluation {
  max-width:760px;
  margin-top:42px;
}
.asset-failure-block {
  margin-top:44px;
  border-top:1px solid var(--line);
  padding-top:36px;
}
.example-links {
  display:flex;
  justify-content:center;
  gap:22px;
  margin-bottom:38px;
  font-size:14px;
}
.example-links a {
  color:var(--accent-dark);
}
.comparison-scene + .comparison-scene {
  margin-top:48px;
  padding-top:40px;
  border-top:1px solid var(--line);
}
.scene-heading {
  display:flex;
  align-items:center;
  gap:14px;
  margin-bottom:19px;
}
.scene-heading h3 {
  font-size:21px;
}
.example-number {
  font-size:12px;
  font-weight:650;
  color:var(--accent-dark);
  white-space:nowrap;
}
.video-frame {
  position:relative;
  aspect-ratio:720 / 496;
  overflow:hidden;
}
.video-highlight {
  position:absolute;
  inset:0;
  width:100%;
  height:100%;
  pointer-events:none;
}
.comparison-grid {
  display:grid;
  grid-template-columns:repeat(3,minmax(0,1fr));
  gap:16px;
}
.video-panel {
  overflow:hidden;
  background:#fff;
  border:1px solid #dfe2e7;
  border-radius:var(--radius);
}
.video-panel figcaption {
  padding:12px 14px;
  display:flex;
  justify-content:center;
  align-items:center;
  gap:8px;
  font-size:15px;
  font-weight:650;
}
.video-panel figcaption span {
  font-size:11px;
  font-weight:500;
  color:var(--muted);
}
.video-panel.featured {
  border-color:#d48873;
}
.video-panel.featured figcaption {
  color:var(--accent-dark);
  background:#fff8f4;
}
.video-panel.featured figcaption span {
  color:var(--accent-dark);
}
.video-panel video {
  aspect-ratio:720/496;
  object-fit:contain;
  background:white;
}
.playback-controls {
  display:flex;
  align-items:center;
  justify-content:center;
  gap:14px;
  margin:22px auto 0;
  max-width:720px;
}
.play-button {
  min-width:172px;
  font-size:13px;
  padding-inline:15px;
  background:white;
}
.play-button span:first-child {
  font-size:12px;
}
input[type=range] {
  flex:1;
  min-width:60px;
  accent-color:var(--accent);
  cursor:pointer;
}
.video-time {
  font-size:12px;
  color:var(--muted);
  font-variant-numeric:tabular-nums;
  white-space:nowrap;
}
.restart-button {
  width:36px;
  height:36px;
  background:transparent;
  border:1px solid var(--line);
  border-radius:50%;
  font-size:23px;
  line-height:1;
  color:var(--muted);
  flex-shrink:0;
}
.restart-button:hover {
  color:var(--accent);
  border-color:var(--accent);
}
.demo-caption {
  text-align:center;
  color:var(--muted);
  font-size:13px;
  margin-top:17px;
}
.highlight-controls {
  display:flex;
  justify-content:center;
  align-items:center;
  flex-wrap:wrap;
  gap:8px 24px;
  margin-top:13px;
  font-size:12px;
  color:var(--muted);
}
.highlight-controls label {
  display:flex;
  align-items:center;
  gap:6px;
  cursor:pointer;
}
.highlight-controls input {
  accent-color:var(--accent);
}
.inspect-button {
  padding:5px 0;
  border:0;
  border-bottom:1px solid #d5a28e;
  background:transparent;
  color:var(--accent-dark);
  font-size:12px;
}
.inspect-button:hover {
  border-color:var(--accent-dark);
}
.scene-caption {
  max-width:900px;
  margin:22px auto 0;
  font-size:14px;
  line-height:1.8;
  color:#515762;
}
.demo-status {
  color:var(--muted);
  font-size:12px;
  text-align:center;
  margin-top:8px;
}
.demo-status:empty {
  display:none;
}
.reading-width>h2 {
  margin-bottom:24px;
  text-align:center;
}
.reading-width>p {
  color:#505660;
  text-align:left;
  font-size:17px;
  line-height:1.85;
}
.method-section {
  padding-top:12px;
}
.paper-figure figcaption {
  font-size:13px;
  color:var(--muted);
  text-align:center;
  margin:18px auto 0;
  max-width:850px;
}
.method-steps {
  display:grid;
  grid-template-columns:repeat(3,minmax(0,1fr));
  gap:34px;
  padding:36px 0 45px;
  margin-top:14px;
  border-bottom:1px solid var(--line);
}
.step-number {
  display:block;
  color:var(--accent);
  font-size:13px;
  font-weight:650;
  letter-spacing:.06em;
  margin-bottom:12px;
}
.method-steps h3 {
  font-size:20px;
  letter-spacing:-.025em;
  margin-bottom:12px;
}
.method-steps p {
  font-size:15px;
  line-height:1.75;
  color:var(--muted);
}
.subsection-heading {
  text-align:center;
  margin:45px 0 30px;
}
.subsection-heading p {
  margin-top:12px;
  font-size:16px;
  color:var(--muted);
}
.alignment-notes {
  display:grid;
  grid-template-columns:1fr 1fr;
  gap:35px;
  margin-top:22px;
  font-size:15px;
  color:var(--muted);
}
.alignment-notes p {
  margin:0;
}
.alignment-notes strong {
  color:var(--ink);
}
.key-results {
  display:grid;
  grid-template-columns:repeat(3,1fr);
  padding:18px 0 28px;
  margin-bottom:32px;
  text-align:center;
}
.key-results>div+div {
  border-left:1px solid #dfe2e7;
}
.key-results strong {
  font-size:46px;
  line-height:1.2;
  font-weight:700;
  letter-spacing:-.045em;
  color:var(--accent);
}
.key-results strong>span {
  font-size:15px;
  letter-spacing:0;
  margin-left:7px;
  font-weight:550;
  color:var(--muted);
}
.key-results p {
  color:var(--muted);
  font-size:13px;
  margin-top:8px;
}
.results-block {
  max-width:900px;
  margin-inline:auto;
}
.results-block+.results-block {
  margin-top:43px;
}
.results-block>p {
  color:var(--muted);
  font-size:14px;
  margin:9px 0 16px;
}
.table-scroll {
  max-width:100%;
  overflow-x:auto;
  background:#fff;
  border:1px solid var(--line);
  border-radius:10px;
}
table {
  border-collapse:collapse;
  width:100%;
  font-size:14px;
  font-variant-numeric:tabular-nums;
  text-align:right;
}
th,td {
  padding:10px 22px;
  border-bottom:1px solid #eceef0;
}
thead th {
  font-weight:600;
  background:#f0f2f5;
  font-size:12px;
  color:#535966;
}
th:first-child {
  text-align:left;
}
tbody th {
  font-weight:450;
}
tbody tr:last-child>* {
  border-bottom:0;
}
.ours-row {
  background:#fff1e9;
}
.ours-row th,.ours-row td {
  font-weight:700;
  color:#973b23;
}
.ours-row th span {
  font-weight:450;
}
.table-note {
  font-size:12px!important;
  line-height:1.65;
}
.waymo-table .ours-row td {
  font-weight:400;
}
.waymo-table {
  min-width:710px;
}
.waymo-table th,.waymo-table td {
  padding:10px 14px;
}
.waymo-table thead th:not(:first-child) {
  text-align:right;
}
.waymo-table thead tr:first-child th[colspan] {
  text-align:center;
}
.waymo-table thead tr:nth-child(2) th:first-child {
  text-align:right;
}
.visibility-analysis {
  display:grid;
  grid-template-columns:1fr 1.2fr;
  gap:50px;
  align-items:center;
  margin-top:48px;
}
.visibility-analysis h3 {
  line-height:1.3;
  margin-bottom:18px;
}
.visibility-analysis p {
  font-size:15px;
  color:var(--muted);
}
.visibility-analysis .small-note {
  font-size:13px;
}
.study-block {
  max-width:1000px;
  margin-inline:auto;
}
.study-block + .study-block {
  margin-top:42px;
}
.study-block > h3 {
  margin-bottom:13px;
}
.study-block > p, .study-columns > div > p {
  margin:0 0 18px;
  font-size:15px;
  line-height:1.8;
  color:var(--muted);
}
.study-block .table-note {
  margin-top:12px;
}
.study-table th,.study-table td {
  padding:10px 15px;
}
.study-table .default-row {
  background:#fff1e9;
  color:#973b23;
}
.wide-study-table {
  min-width:690px;
}
.study-columns {
  display:grid;
  grid-template-columns:1.15fr 1fr;
  align-items:start;
  gap:30px;
  margin-top:25px;
}
.study-columns > div {
  min-width:0;
}
.study-columns h4, .study-subheading {
  margin:0 0 12px;
  font-size:18px;
  font-weight:600;
  letter-spacing:-.02em;
}
.study-columns .study-table {
  font-size:12px;
}
.study-columns .study-table th,.study-columns .study-table td {
  padding:9px 11px;
}
.study-columns .study-table td {
  white-space:nowrap;
}
.study-details {
  margin-top:18px;
  padding:14px 18px;
  border:1px solid var(--line);
  border-radius:8px;
  background:#fff;
}
.study-details summary {
  cursor:pointer;
  font-size:14px;
  font-weight:550;
  color:var(--blue);
}
.study-details summary:focus-visible {
  outline:3px solid var(--blue);
  outline-offset:5px;
}
.study-details[open] summary {
  margin-bottom:18px;
}
.study-subheading {
  margin-top:28px;
}
.failure-figure {
  max-width:1000px;
  margin-inline:auto;
}
.failure-notes {
  display:grid;
  grid-template-columns:repeat(3,minmax(0,1fr));
  gap:32px;
  margin-top:32px;
}
.failure-letter {
  color:var(--accent);
  font-size:14px;
  font-weight:650;
}
.failure-notes h3 {
  font-size:19px;
  line-height:1.4;
  margin:8px 0 12px;
}
.failure-notes p {
  color:var(--muted);
  font-size:14px;
  line-height:1.8;
}
.citation-section {
  background:var(--soft);
  padding-block:50px;
}
.citation-heading {
  display:flex;
  align-items:center;
  justify-content:space-between;
  gap:15px;
  margin-bottom:18px;
}
.citation-heading h2 {
  font-size:28px;
}
.copy-button {
  min-height:36px;
  font-size:12px;
  padding:7px 14px;
}
pre {
  margin:0;
  padding:24px 27px;
  overflow-x:auto;
  background:#fff;
  border:1px solid var(--line);
  border-radius:9px;
  font-size:13px;
  line-height:1.65;
  color:#444b55;
  tab-size:2;
}
code {
  font-family:"SFMono-Regular",Consolas,"Liberation Mono",monospace;
}
.copy-status {
  font-size:12px;
  min-height:20px;
  color:var(--muted);
  margin:8px 0 0!important;
}
.footer {
  display:flex;
  align-items:center;
  justify-content:space-between;
  gap:20px;
  padding-block:30px;
}
.footer p {
  font-size:12px;
  color:var(--muted);
  margin:0;
}
.footer a:not(.wordmark) {
  color:var(--muted);
}
.footer p span {
  margin-inline:9px;
}
.sr-only {
  position:absolute;
  width:1px;
  height:1px;
  padding:0;
  margin:-1px;
  overflow:hidden;
  clip:rect(0,0,0,0);
  white-space:nowrap;
  border:0;
}
.skip-link {
  position:fixed;
  top:10px;
  left:15px;
  transform:translateY(-150%);
  z-index:10;
  padding:10px 18px;
  border-radius:6px;
  background:var(--ink);
  color:white;
}
.skip-link:focus {
  transform:translateY(0);
}
[hidden] {
  display:none!important;
}
@media(min-width:1500px) {
  .hero {
    padding-top:66px;
  }
  .project-name {
    font-size:64px;
  }
}
@media(max-width:850px) {
  .extended-nav {
    display:none;
  }
  .study-columns {
    grid-template-columns:1fr;
    gap:28px;
  }
  .study-columns .study-table {
    font-size:13px;
  }
  .paper-subtitle {
    font-size:33px;
  }
  .desktop-break {
    display:none;
  }
  .authors {
    font-size:17px;
    gap:5px 18px;
  }
  .affiliations {
    font-size:13px;
  }
  .container {
    width:calc(100% - 40px);
  }
  .section {
    padding-block:55px;
  }
  .method-section {
    padding-top:10px;
  }
  .comparison-grid {
    gap:9px;
  }
  .video-panel figcaption {
    font-size:13px;
    padding:10px;
  }
  .video-panel figcaption span {
    display:none;
  }
  .key-results strong {
    font-size:38px;
  }
  .method-steps {
    gap:23px;
  }
  .visibility-analysis {
    gap:28px;
  }
  .section-heading p:last-child {
    font-size:15px;
  }
}
@media(max-width:600px) {
  .novel-examples {
    grid-template-columns:1fr;
    gap:28px;
  }
  .novel-evaluation {
    margin-top:30px;
  }
  .figure-source {
    font-size:11px;
  }
  .scene-heading {
    align-items:flex-start;
    flex-direction:column;
    gap:5px;
  }
  .scene-heading h3 {
    font-size:21px;
  }
  .scene-caption {
    font-size:13px;
  }
  .comparison-scene + .comparison-scene {
    margin-top:36px;
    padding-top:30px;
  }
  .highlight-controls {
    gap:8px 15px;
    font-size:11px;
  }
  .inspect-button {
    font-size:11px;
  }
  .study-table {
    min-width:410px;
  }
  .wide-study-table {
    min-width:690px;
  }
  .study-block > h3 {
    font-size:22px;
  }
  .study-block > p,.study-columns > div > p {
    font-size:14px;
  }
  .study-table th,.study-table td {
    padding:9px 11px;
  }
  .study-details {
    padding:12px;
  }
  .study-details summary {
    font-size:13px;
  }
  .failure-notes {
    grid-template-columns:1fr;
    gap:23px;
  }
  .failure-notes h3 {
    margin:5px 0 8px;
  }
  body {
    font-size:16px;
  }
  .container {
    width:calc(100% - 32px);
  }
  .site-header {
    height:58px;
  }
  .wordmark {
    font-size:18px;
  }
  .nav-links {
    gap:16px;
    font-size:12px;
  }
  .nav-links .related-link {
    display:none;
  }
  .hero {
    padding-top:34px;
    padding-bottom:42px;
  }
  .venue {
    font-size:12px;
  }
  .project-name {
    font-size:47px;
    margin-top:12px;
  }
  .paper-subtitle {
    font-size:28px;
    line-height:1.24;
  }
  .authors {
    font-size:15px;
    gap:5px 16px;
    margin-top:23px;
  }
  .affiliations {
    gap:2px 14px;
    font-size:12px;
    margin-top:10px;
  }
  .publication-links {
    margin-top:23px;
    margin-bottom:31px;
    gap:7px;
  }
  .publication-links .button {
    padding:8px 14px;
    font-size:12px;
  }
  .button svg {
    width:16px;
    height:16px;
  }
  .teaser figcaption {
    font-size:14px;
    margin-top:20px;
  }
  .teaser figcaption strong {
    font-size:16px;
  }
  .legend {
    gap:13px;
    font-size:10px;
    margin-top:13px;
  }
  .section {
    padding-block:43px;
  }
  h2 {
    font-size:27px;
  }
  h3 {
    font-size:21px;
  }
  .section-heading {
    margin-bottom:25px;
  }
  .eyebrow {
    font-size:10px;
    letter-spacing:.14em;
  }
  .section-heading p:last-child {
    font-size:14px;
    margin-top:12px;
  }
  .scene-selector {
    gap:8px;
  }
  .scene-button {
    font-size:12px;
    padding:8px 13px;
  }
  .scene-button span {
    display:block;
    margin:2px 0 0;
    font-size:11px;
  }
  .comparison-grid {
    grid-template-columns:1fr;
    max-width:460px;
    margin-inline:auto;
    gap:16px;
  }
  .video-panel figcaption {
    font-size:14px;
    padding:10px 14px;
  }
  .video-panel figcaption span {
    display:block;
  }
  .playback-controls {
    flex-wrap:wrap;
    gap:10px;
  }
  .play-button {
    min-width:148px;
    font-size:12px;
    min-height:38px;
  }
  .playback-controls input {
    flex-basis:calc(100% - 85px);
    order:2;
  }
  .playback-controls output {
    order:3;
  }
  .restart-button {
    margin-left:auto;
  }
  .demo-caption {
    font-size:12px;
  }
  .reading-width>p {
    font-size:15px;
    line-height:1.8;
  }
  .method-section {
    padding-top:5px;
  }
  .method-steps {
    grid-template-columns:1fr;
    gap:24px;
    padding-block:25px 30px;
  }
  .method-steps article {
    display:grid;
    grid-template-columns:30px 1fr;
    column-gap:13px;
  }
  .step-number {
    grid-row:1/3;
    margin-top:2px;
  }
  .method-steps h3 {
    font-size:19px;
    margin-bottom:8px;
  }
  .method-steps p {
    font-size:14px;
    grid-column:2;
  }
  .paper-figure figcaption {
    font-size:12px;
    margin-top:14px;
  }
  .subsection-heading {
    margin-top:30px;
    margin-bottom:22px;
  }
  .subsection-heading p {
    font-size:14px;
  }
  .alignment-notes {
    grid-template-columns:1fr;
    gap:14px;
    font-size:14px;
  }
  .key-results {
    padding-top:0;
    margin-bottom:15px;
  }
  .key-results strong {
    font-size:30px;
  }
  .key-results strong>span {
    display:block;
    margin:5px 0 0;
    font-size:12px;
  }
  .key-results p {
    font-size:10px;
    padding-inline:7px;
  }
  .results-block>p {
    font-size:13px;
  }
  .results-block h3 {
    font-size:22px;
  }
  table {
    font-size:13px;
  }
  th,td {
    padding:9px 14px;
  }
  .table-note {
    font-size:11px!important;
  }
  .visibility-analysis {
    grid-template-columns:1fr;
    gap:23px;
    margin-top:33px;
  }
  .visibility-analysis h3 {
    font-size:21px;
    margin-bottom:12px;
  }
  .visibility-analysis p {
    font-size:14px;
  }
  .citation-heading h2 {
    font-size:25px;
  }
  pre {
    font-size:11px;
    padding:18px;
  }
  .footer {
    flex-wrap:wrap;
    gap:13px;
    padding-block:23px;
  }
  .footer>.wordmark {
    margin-right:auto;
  }
  .footer>p:last-child {
    flex-basis:100%;
  }
}
@media(prefers-reduced-motion:reduce) {
  html {
    scroll-behavior:auto;
  }
  *,*::before,*::after {
    transition:none!important;
  }
}