body {
  background: #fbfbf8;
  color: #18212f;
  font-family: 'Noto Sans', sans-serif;
}

a {
  color: #087f7a;
}

a:hover {
  color: #075f5b;
}

.navbar {
  border-bottom: 1px solid #e7e2d8;
  min-height: 3.5rem;
}

.navbar-item {
  color: #314155;
  font-family: 'Google Sans', sans-serif;
}

.brand-mark {
  color: #102033;
  font-weight: 700;
  letter-spacing: 0;
}

.paper-hero {
  background:
    linear-gradient(180deg, rgba(251, 251, 248, 0.98), rgba(246, 246, 241, 0.98)),
    radial-gradient(circle at 18% 24%, rgba(8, 127, 122, 0.18), transparent 32rem),
    radial-gradient(circle at 82% 18%, rgba(190, 99, 21, 0.14), transparent 30rem);
  border-bottom: 1px solid #e7e2d8;
}

.paper-hero .hero-body {
  padding-bottom: 4rem;
  padding-top: 4.5rem;
}

.venue {
  color: #9a4f12;
  font-family: 'Google Sans', sans-serif;
  font-size: 1rem;
  font-weight: 700;
  margin-bottom: 1rem;
  text-transform: uppercase;
}

.publication-title {
  color: #102033;
  font-family: 'Google Sans', sans-serif;
  font-size: 3.25rem;
  letter-spacing: 0;
  line-height: 1.08;
  margin-bottom: 1.35rem;
}

.publication-title-line {
  display: block;
  white-space: nowrap;
}

.publication-authors,
.publication-affiliation {
  color: #38485c;
  font-family: 'Google Sans', sans-serif;
}

.publication-authors {
  margin-bottom: 0.35rem;
}

.publication-authors a {
  color: #087f7a;
}

.publication-authors a:hover {
  color: #075f5b;
  text-decoration: underline;
}

.publication-affiliation {
  color: #5b6777;
  margin-bottom: 1.6rem;
}

.author-block {
  display: inline-block;
  margin-left: 0.35rem;
  margin-right: 0.35rem;
}

.publication-links {
  align-items: center;
  display: flex;
  flex-wrap: wrap;
  gap: 0.65rem;
  justify-content: center;
}

.link-block a {
  border-radius: 6px;
  font-family: 'Google Sans', sans-serif;
  font-weight: 600;
}

.button.is-dark {
  background: #102033;
}

.button.is-light {
  background: #eef2f1;
  color: #102033;
}

.visual-overview {
  padding-bottom: 0.2rem;
  padding-top: 2.5rem;
}

.section {
  padding-bottom: 3.75rem;
  padding-top: 3.75rem;
}

.abstract-section {
  padding-top: 0.2rem;
}

.section-band {
  background: #f2f4f0;
  border-bottom: 1px solid #e2e5df;
  border-top: 1px solid #e2e5df;
}

.section-title {
  color: #102033;
  font-family: 'Google Sans', sans-serif;
  letter-spacing: 0;
  margin-bottom: 1.5rem;
}

.section-copy {
  color: #334458;
  font-size: 1.04rem;
  line-height: 1.68;
  margin: -0.35rem auto 2rem;
  max-width: 52rem;
  text-align: center;
}

.benchmark-copy {
  margin-bottom: 0.15rem;
  margin-top: -0.1rem;
}

.feature-copy {
  margin-bottom: 0.15rem;
  margin-top: -0.1rem;
}

.paper-copy {
  color: #263548;
  font-size: 1.08rem;
  line-height: 1.78;
}

.paper-copy p {
  text-align: justify;
}

.paper-figure {
  margin: 0;
}

.figure-stack {
  display: grid;
  gap: 2.35rem;
}

.benchmark-panel,
.feature-panel {
  display: grid;
  gap: 1.25rem;
}

.results-media-row {
  align-items: center;
  display: grid;
  gap: 2rem;
  grid-template-columns: minmax(0, 1.1fr) minmax(21rem, 0.9fr);
}

.plot-figure {
  align-self: center;
}

.plot-image {
  background: #ffffff;
  border: 1px solid #d8dedb;
  border-radius: 8px;
  display: block;
  height: auto;
  width: 100%;
}

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

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

.rollout-grid.is-one-by-four {
  grid-template-columns: repeat(4, minmax(0, 1fr));
}

.d4rl-rollout-grid {
  gap: 0.6rem;
  justify-self: center;
  max-width: 20rem;
  width: 100%;
}

.dsrl-benchmark-stack {
  display: grid;
  gap: 1.25rem;
}

.dsrl-rollout-grid {
  margin-left: auto;
  margin-right: auto;
  max-width: 58rem;
  width: 100%;
}

.dsrl-plot-figure {
  margin-left: auto;
  margin-right: auto;
  max-width: 58rem;
  width: 100%;
}

.rollout-tile {
  background: #ffffff;
  border: 1px solid #d8dedb;
  border-radius: 8px;
  min-width: 0;
  overflow: hidden;
}

.rollout-gif {
  aspect-ratio: 1 / 1;
  background: #ffffff;
  display: block;
  object-fit: cover;
  width: 100%;
}

.fetch-composite-figure {
  justify-self: center;
  max-width: 21.75rem;
  width: 100%;
}

.fetch-composite-video {
  aspect-ratio: 1 / 1;
  background: #ffffff;
  border: 1px solid #d8dedb;
  border-radius: 8px;
  display: block;
  object-fit: cover;
  width: 100%;
}

.paper-figure.rollout-tile figcaption {
  line-height: 1.25;
  margin-top: 0;
  padding: 0.58rem 0.65rem 0.68rem;
}

.d4rl-rollout-grid .paper-figure.rollout-tile figcaption {
  font-size: 0.88rem;
  padding: 0.38rem 0.45rem 0.46rem;
}

.paper-figure.rollout-tile figcaption span {
  color: #087f7a;
  font-size: 0.78rem;
  font-weight: 700;
  margin-left: 0.25rem;
}

.paper-figure.rollout-tile figcaption small {
  color: #647184;
  display: block;
  font-family: 'Noto Sans', sans-serif;
  font-size: 0.78rem;
  font-weight: 500;
  line-height: 1.35;
  margin-top: 0.28rem;
}

.subsection-title {
  color: #102033;
  font-family: 'Google Sans', sans-serif;
  letter-spacing: 0;
  margin-bottom: 0.25rem;
  text-align: center;
}

.adaptation-row {
  display: grid;
  gap: 1rem;
  grid-template-columns: repeat(3, minmax(0, 1fr));
}

.d4rl-benchmark-row {
  align-items: center;
  display: grid;
  gap: 2rem;
  grid-template-columns: minmax(0, 1.35fr) minmax(8rem, 0.65fr);
}

.benchmark-table-slot {
  min-height: 18rem;
  width: 100%;
}

.d4rl-animation-figure {
  justify-self: center;
  max-width: 14rem;
  width: 100%;
}

.d4rl-animation-gif {
  display: block;
  height: auto;
  margin: 0 auto;
  max-height: 24rem;
  max-width: 100%;
  object-fit: contain;
  width: auto;
}

.figure-grid {
  display: grid;
  gap: 2rem;
}

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

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

.method-overview {
  padding-top: 1.4rem;
}

.method-figure-row {
  align-items: center;
  display: grid;
  gap: 2.25rem;
  grid-template-columns: minmax(0, 0.85fr) minmax(0, 1.35fr);
}

.method-pdf-figure {
  align-self: center;
}

.method-figure-image {
  display: block;
  height: auto;
  width: 100%;
}

.method-copy {
  margin-bottom: 0;
  margin-top: 2rem;
  text-align: left;
}

.sampling-figure {
  background: #ffffff;
  border: 1px solid #d8dedb;
  border-radius: 8px;
  display: block;
  height: auto;
  margin: 3rem auto 0;
  max-width: 100%;
  object-fit: contain;
  width: 75%;
}

.sampling-video {
  background: #ffffff;
  border: 1px solid #d8dedb;
  border-radius: 8px;
  display: block;
  height: auto;
  margin: 0 auto;
  max-width: 100%;
  object-fit: contain;
  width: 100%;
}

.sampling-figure figcaption {
  color: #334458;
  font-family: 'Noto Sans', sans-serif;
  font-size: 0.98rem;
  font-weight: 500;
  line-height: 1.55;
  margin-left: auto;
  margin-right: auto;
  max-width: 40rem;
}

.real-world-grid {
  align-items: center;
  display: grid;
  gap: 2rem;
  grid-template-columns: minmax(0, 1.2fr) minmax(0, 1fr);
}

.figure-slot {
  align-items: center;
  background:
    linear-gradient(135deg, rgba(16, 32, 51, 0.05), rgba(8, 127, 122, 0.04)),
    repeating-linear-gradient(135deg, rgba(16, 32, 51, 0.06) 0, rgba(16, 32, 51, 0.06) 1px, transparent 1px, transparent 14px);
  border: 1px dashed #9daaa7;
  border-radius: 8px;
  display: flex;
  justify-content: center;
  min-height: 18rem;
  overflow: hidden;
  position: relative;
  width: 100%;
}

.figure-slot::after {
  background: #fbfbf8;
  border: 1px solid #d8dedb;
  border-radius: 6px;
  color: #536270;
  content: attr(aria-label);
  font-family: 'Google Sans', sans-serif;
  font-size: 0.9rem;
  font-weight: 600;
  padding: 0.55rem 0.85rem;
}

.figure-slot.is-wide {
  aspect-ratio: 16 / 10;
  min-height: 19rem;
}

.figure-slot.is-chart {
  aspect-ratio: 16 / 9;
}

.figure-slot img {
  display: block;
  height: 100%;
  object-fit: contain;
  width: 100%;
}

.teaser-figure {
  margin-left: auto;
  margin-right: auto;
  max-width: 860px;
  width: 100%;
}

.teaser-video {
  background: #ffffff;
  border: 1px solid #d8dedb;
  border-radius: 8px;
  display: block;
  height: auto;
  margin: 0 auto;
  max-width: 100%;
  object-fit: contain;
  width: 100%;
}

.robot-walking-gif {
  background: #ffffff;
  border-radius: 8px;
  display: block;
  height: auto;
  object-fit: contain;
  width: 100%;
}

.real-world-figure-image {
  display: block;
  height: auto;
  margin: auto;
  max-width: 100%;
  width: 100%;
}

.paper-figure figcaption {
  color: #4f5f70;
  font-family: 'Google Sans', sans-serif;
  font-size: 0.98rem;
  font-weight: 700;
  margin-top: 0.85rem;
  text-align: center;
}

.real-world-copy {
  margin-bottom: 0;
  margin-top: 2rem;
}

.bibtex {
  background: #102033;
  border-radius: 8px;
  color: #eef5f3;
  font-size: 0.92rem;
  overflow-x: auto;
  padding: 1.2rem 1.35rem;
}

.bibtex code {
  color: inherit;
}

.footer {
  background: #fbfbf8;
  border-top: 1px solid #e7e2d8;
  color: #627084;
  padding: 2rem 1.5rem;
}

@media screen and (max-width: 768px) {
  .navbar-menu.is-active {
    display: none;
  }

  .paper-hero .hero-body {
    padding-bottom: 2.2rem;
    padding-top: 2.6rem;
  }

  .publication-title {
    font-size: 1.95rem;
    line-height: 1.14;
  }

  .publication-title-line {
    display: inline;
    white-space: normal;
  }

  .publication-title-line + .publication-title-line::before {
    content: " ";
  }

  .publication-affiliation {
    margin-bottom: 1.2rem;
  }

  .visual-overview {
    padding-top: 1.35rem;
  }

  .section {
    padding-bottom: 2.6rem;
    padding-top: 2.6rem;
  }

  .paper-copy p {
    text-align: left;
  }

  .section-copy {
    margin-bottom: 1.6rem;
    text-align: left;
  }

  .figure-stack,
  .figure-grid {
    gap: 1.6rem;
  }

  .results-media-row {
    gap: 1.35rem;
    grid-template-columns: 1fr;
  }

  .rollout-grid {
    gap: 0.65rem;
  }

  .d4rl-rollout-grid {
    max-width: 100%;
  }

  .rollout-grid.is-one-by-four {
    grid-template-columns: repeat(2, minmax(0, 1fr));
  }

  .adaptation-row {
    gap: 0.85rem;
    grid-template-columns: 1fr;
  }

  .figure-grid.is-two-up,
  .figure-grid.is-three-up {
    grid-template-columns: 1fr;
  }

  .method-figure-row {
    gap: 1.6rem;
    grid-template-columns: 1fr;
  }

  .d4rl-benchmark-row {
    gap: 1.6rem;
    grid-template-columns: 1fr;
  }

  .benchmark-table-slot {
    min-height: 12rem;
  }

  .d4rl-animation-gif {
    max-height: 18rem;
  }

  .real-world-grid {
    gap: 1.6rem;
    grid-template-columns: 1fr;
  }

  .figure-slot,
  .figure-slot.is-wide,
  .figure-slot.is-chart {
    aspect-ratio: 4 / 3;
    min-height: 13rem;
  }
}

@media screen and (min-width: 769px) and (max-width: 1024px) {
  .publication-title {
    font-size: 3.1rem;
  }

  .results-media-row {
    grid-template-columns: minmax(0, 1fr) minmax(18rem, 0.9fr);
  }
}

@media screen and (max-width: 420px) {
  .publication-title {
    font-size: 1.75rem;
  }

  .paper-figure.rollout-tile figcaption {
    font-size: 0.86rem;
    padding-left: 0.45rem;
    padding-right: 0.45rem;
  }

  .rollout-grid.is-one-by-four {
    grid-template-columns: 1fr;
  }
}