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:root{--background:#fbfbfa;--ink:#203237;--muted:#657176;--accent:#b54428;--blue:#246b91;--line:#dce2e0;--tint:#f0f4f2;--sans:Arial,Helvetica,sans-serif}
*{box-sizing:border-box}html{scroll-behavior:smooth;scroll-padding-top:30px}body{margin:0;background:var(--background);color:var(--ink);font:16px/1.7 var(--sans);-webkit-font-smoothing:antialiased}h1,h2,h3,h4,p,figure{margin:0}a{color:inherit;text-decoration:none}a:hover{color:var(--accent)}img{display:block;max-width:100%;height:auto}video{display:block;width:100%;background:#101919}button{font:inherit;cursor:pointer}a,button{-webkit-tap-highlight-color:transparent}button:disabled{cursor:default}button:focus-visible,a:focus-visible{outline:3px solid var(--accent);outline-offset:4px}[hidden]{display:none!important}.content-width{width:min(1120px,calc(100% - 80px));margin-inline:auto}.site-header{height:80px;display:flex;align-items:center;justify-content:space-between;border-bottom:1px solid var(--line)}.wordmark{font-size:25px;font-weight:800;letter-spacing:-.9px}.site-header nav{display:flex;gap:30px;font-size:13px}.site-header nav a{padding-block:10px}.paper-header{text-align:center;padding-top:58px;padding-bottom:0}.paper-header h1{font-weight:650;letter-spacing:-1.1px;line-height:1.25;margin-inline:auto;max-width:1050px}.title-main{display:block;font-size:39px}.title-name{color:var(--accent);font-weight:750}.title-subline{display:block;font-size:32px;line-height:1.35;margin-top:12px;letter-spacing:-.7px}.authors{display:flex;justify-content:center;align-items:baseline;gap:11px 22px;flex-wrap:wrap;font-size:17px;margin-top:31px}.authors>span,.authors>a{white-space:nowrap}.authors>a{color:var(--blue)}.authors sup{font-size:10px;line-height:1;vertical-align:super;margin-left:3px;color:var(--ink);font-weight:400}.affiliations{margin:15px auto 0;font-size:12px;line-height:1.9;color:var(--muted);max-width:960px}.affiliations>span{display:inline-block;margin-inline:10px}.affiliations sup{font-size:9px;margin-right:3px}.contribution-notes{display:flex;justify-content:center;flex-wrap:wrap;gap:20px;margin-top:5px;font-size:11px}.paper-links{display:flex;align-items:center;justify-content:center;gap:12px;margin-top:23px}.resource-link{display:inline-flex;align-items:center;gap:12px;padding:7px 15px;border:1px solid #cbd3d0;border-radius:4px;font-size:12px}.resource-status{font-size:10px;color:var(--muted)}.resource-link.unavailable{color:#647175;background:#f3f4f1;cursor:default;border-color:#e0e4df}.resource-link:not(.unavailable){background:var(--ink);border-color:var(--ink);color:white}.resource-link:not(.unavailable):hover{background:var(--accent);border-color:var(--accent)}.overview-film{margin-top:35px}.overview-frame{overflow:hidden;border-radius:4px;position:relative;background:#17282c}.overview-frame video{aspect-ratio:1920/1040;object-fit:contain}.overview-frame>button{position:absolute;bottom:12px;right:14px;background:#15272bde;color:white;border:1px solid #ffffff80;border-radius:4px;padding:4px 11px;font-size:11px}.overview-frame>button:hover{background:#b54428}.overview-film figcaption{text-align:center;font-size:11px;color:var(--muted);margin-top:12px}.section{padding-block:62px;scroll-margin-top:20px}h2{font-size:30px;font-weight:650;letter-spacing:-.7px;line-height:1.3;margin-bottom:22px}h3{font-size:20px;line-height:1.4;letter-spacing:-.3px;font-weight:600}.section-intro{font-size:15px;color:#59686d;line-height:1.9;max-width:1000px;margin-bottom:28px}.insight-lead{font-size:21px;line-height:1.6;max-width:1000px;margin-bottom:16px;letter-spacing:-.2px}.insight-lead strong{font-weight:600;color:var(--accent)}#insight{padding-bottom:34px}#method{padding-top:34px;border-top:1px solid var(--line)}.paper-figure{background:white;border:1px solid #e3e8e3;border-radius:4px;padding:22px 22px 16px}.paper-figure img{width:100%}.paper-figure figcaption{font-size:12px;color:var(--muted);line-height:1.8;margin-top:17px}.method-explanation{display:grid;grid-template-columns:1fr 1fr;gap:58px;align-items:center;margin-top:38px}.method-explanation h3{margin-bottom:15px;font-size:19px}.method-explanation p{font-size:14px;color:var(--muted);line-height:1.9;margin-top:13px}.method-explanation figure{padding:16px;background:white;border-radius:3px}.experiments-section{background:var(--tint)}.robot-setup{max-width:850px;margin:29px auto 40px}.robot-setup img{width:100%;border-radius:3px}.robot-setup figcaption{font-size:12px;color:var(--muted);line-height:1.8;margin-top:15px;text-align:center}.gallery-heading{margin:0 0 20px}.task-tabs{display:grid;grid-template-columns:repeat(6,minmax(0,1fr));gap:9px;margin-bottom:25px;align-items:stretch}.task-tabs>button{display:flex;align-items:flex-start;flex-direction:column;gap:4px;padding:11px 12px;text-align:left;border:1px solid #cbd6d0;border-radius:4px;background:transparent;color:var(--ink);font-size:12px;line-height:1.4;font-weight:500;min-width:0}.task-tabs>button>span{font-size:10px;color:#6a7e76}.task-tabs>button:hover{border-color:var(--ink)}.task-tabs>button[aria-selected=true]{background:var(--ink);border-color:var(--ink);color:white}.task-tabs>button[aria-selected=true]>span{color:#c4d3ce}.task-panel{display:grid;grid-template-columns:1.55fr 1fr;gap:38px;align-items:center}.task-panel>*{min-width:0}.task-video{overflow:hidden;background:#101919;border-radius:3px}.task-video video{aspect-ratio:4/3;object-fit:contain}.task-count{font-size:11px;color:var(--muted)}.task-description h3{font-size:25px;line-height:1.3;letter-spacing:-.5px;margin-block:10px 19px}.task-description p{font-size:14px;line-height:1.9;color:#53656a;margin-top:13px}.task-description p.video-speed{font-size:10px;line-height:1.8;color:#7b8788;margin-top:25px}.gallery-pagination{display:flex;align-items:center;justify-content:space-between;margin-top:23px;padding-top:18px;border-top:1px solid #ced9d3}.gallery-pagination>button{border:1px solid #cbd5d0;background:transparent;padding:6px 13px;border-radius:3px;font-size:11px;color:var(--ink)}.gallery-pagination>button:hover:not(:disabled){background:white;border-color:var(--ink)}.gallery-pagination>button:disabled{opacity:.4}.gallery-pagination>span{font-size:11px;color:var(--muted);font-variant-numeric:tabular-nums}.failure-section{margin-top:55px;padding-top:35px;border-top:1px solid #cbd6d0}.failure-section>h3{font-size:23px;margin-bottom:24px}.failure-layout{display:grid;grid-template-columns:1.55fr 1fr;align-items:center;gap:38px}.failure-layout video{aspect-ratio:4/3;object-fit:contain;border-radius:3px}.failure-explanation h4{font-size:15px;font-weight:600;margin-block:20px 8px}.failure-explanation h4:first-child{margin-top:0}.failure-explanation p{font-size:14px;line-height:1.9;color:#53656a}.results-layout{display:grid;grid-template-columns:2.2fr 1fr;gap:35px;margin-top:35px}.results-layout>*,.real-results>*,.method-explanation>*{min-width:0}.results-main h3{font-size:18px;margin-bottom:20px}.table-scroll{overflow-x:auto;-webkit-overflow-scrolling:touch;min-width:0}.comparison-table{border-collapse:collapse;text-align:right;width:100%;white-space:nowrap;font-size:13px}.comparison-table th,.comparison-table td{padding:13px 10px;border-bottom:1px solid #dce2dd}.comparison-table th:first-child{text-align:left}.comparison-table thead{font-size:11px;color:var(--muted)}.comparison-table thead th{font-weight:500;border-top:1px solid var(--ink);border-bottom:1px solid var(--ink)}.comparison-table tbody th{font-size:12px;font-weight:400}.comparison-table tr.highlight{background:#e8efe8}.comparison-table tr.highlight th,.comparison-table tr.highlight td{font-weight:600}.table-tag{display:block;font-size:7px;color:#64796b;letter-spacing:.5px;margin-top:3px;font-weight:400}.table-note{font-size:11px;color:var(--muted);line-height:1.9;margin-top:16px}.efficiency{padding:24px;background:#f0eee6;border-radius:4px;align-self:start}.efficiency h3{font-size:16px;margin-bottom:23px}.latency-row{display:flex;justify-content:space-between;gap:10px;font-size:10px;margin-bottom:6px}.bar{height:6px;background:#dcded5;margin-bottom:20px;overflow:hidden}.bar>span{height:100%;display:block;background:#a6afa3}.bar.accent>span{background:var(--accent)}.accent{color:var(--accent)}.efficiency p{font-size:10px;color:var(--muted);line-height:1.9}.efficiency p strong{display:block;color:var(--ink);margin-top:10px;font-weight:500}.real-results{display:block;margin-top:46px}.real-result-intro h3{font-size:20px;margin-bottom:8px}.real-result-intro p{font-size:12px;color:var(--muted);margin-bottom:22px}.real-table th,.real-table td{padding-block:10px}.ablation-row{display:grid;grid-template-columns:1.2fr 1.1fr;gap:65px;margin-top:42px;padding:30px 0;border-top:1px solid var(--line);border-bottom:1px solid var(--line);align-items:center}.ablation-row h3{font-size:20px;margin-bottom:12px}.ablation-row>div>p{font-size:12px;color:var(--muted);line-height:1.9}.ablation-values{display:flex;justify-content:space-between;gap:25px}.ablation-values strong{font-size:32px;font-weight:500;letter-spacing:-1px}.ablation-values strong span{font-size:16px;color:var(--muted);letter-spacing:0}.ablation-values p{font-size:11px;color:var(--muted);line-height:1.6;margin-top:5px}footer{display:flex;align-items:center;justify-content:space-between;border-top:1px solid var(--line);height:100px;gap:20px}footer .wordmark{font-size:19px}footer>span,footer>a:last-child{font-size:11px;color:var(--muted)}.skip-link{position:fixed;top:-90px;left:10px;background:var(--ink);color:white;padding:10px;z-index:99}.skip-link:focus{top:10px}.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}
@media(min-width:1500px){.content-width{width:min(1180px,calc(100% - 100px))}.title-main{font-size:42px}.title-subline{font-size:34px}}
@media(max-width:1050px){.title-main{font-size:33px}.title-subline{font-size:29px}.authors{font-size:16px;gap:9px 18px}.site-header nav{gap:24px}.task-tabs>button{font-size:11px;padding-inline:9px}.task-panel,.failure-layout{gap:28px;grid-template-columns:1.5fr 1fr}.task-description h3{font-size:23px}.task-description p,.failure-explanation p{font-size:13px}.results-layout{grid-template-columns:1fr;gap:26px}.efficiency{max-width:600px;width:100%}.efficiency h3{font-size:17px}.latency-row,.efficiency p{font-size:11px}.method-explanation{gap:35px}}
@media(max-width:760px){.content-width{width:calc(100% - 42px)}.site-header{height:70px}.site-header nav{gap:20px;font-size:11px}.site-header nav a:nth-child(3){font-size:0}.site-header nav a:nth-child(3):after{content:'Experiments';font-size:11px}.wordmark{font-size:23px}.paper-header{padding-top:38px}.title-main{font-size:31px}.title-subline{font-size:25px;letter-spacing:-.5px;margin-top:10px}.title-break{display:none}.authors{font-size:15px;gap:7px 16px;margin-top:26px}.affiliations{font-size:11px;margin-top:13px}.affiliations>span{margin-inline:7px}.overview-film{margin-top:27px}.overview-film figcaption{font-size:10px}.overview-frame>button{font-size:10px;padding:3px 8px;bottom:7px;right:8px}.section{padding-block:45px}h2{font-size:27px;margin-bottom:20px}.insight-lead{font-size:19px}.section-intro{font-size:14px;margin-bottom:24px}.paper-figure{padding:17px 13px 14px}.paper-figure figcaption{font-size:11px;margin-top:14px}#insight{padding-bottom:28px}#method{padding-top:28px}.method-explanation{grid-template-columns:1fr;gap:25px;margin-top:29px}.method-explanation p{font-size:13px}.method-explanation figure{max-width:530px;margin:auto}.robot-setup{margin-block:24px 30px}.robot-setup figcaption{font-size:11px}.gallery-heading{font-size:18px}.task-tabs{grid-template-columns:repeat(3,minmax(0,1fr));gap:8px;margin-bottom:20px}.task-tabs>button{font-size:12px;padding:10px 12px}.task-panel,.failure-layout{grid-template-columns:1fr;gap:22px}.task-description h3{font-size:24px;margin-block:8px 12px}.task-description p{margin-top:8px}.task-description p.video-speed{margin-top:15px}.task-count{font-size:10px}.failure-section{margin-top:35px;padding-top:29px}.failure-section>h3{font-size:21px}.failure-explanation{max-width:none}.failure-explanation h4{font-size:14px}.failure-explanation p{font-size:13px}.gallery-pagination{margin-top:19px}.results-layout{margin-top:28px}.comparison-table{font-size:12px}.comparison-table tbody th{font-size:11px}.comparison-table thead{font-size:10px}.comparison-table th,.comparison-table td{padding-inline:8px}.ablation-row{grid-template-columns:1fr;gap:22px;margin-top:32px;padding-block:25px}.ablation-values{max-width:470px;width:100%;gap:15px}.real-results{margin-top:34px}footer{height:92px}footer>span{font-size:10px}footer>a:last-child{font-size:10px}}
@media(max-width:440px){.content-width{width:calc(100% - 32px)}.site-header{height:64px}.wordmark{font-size:22px}.site-header nav{gap:15px;font-size:10px}.site-header nav a:nth-child(3):after{font-size:10px}.site-header nav a:nth-child(2){display:none}.paper-header{padding-top:30px}.paper-header h1{letter-spacing:-.7px}.title-main{font-size:28px;line-height:1.25}.title-subline{font-size:23px;line-height:1.4;margin-top:11px}.authors{font-size:14px;gap:8px 14px;margin-top:24px}.authors sup{font-size:8px;margin-left:2px}.affiliations{font-size:10px;line-height:1.8}.affiliations>span{display:block;margin:2px 0}.contribution-notes{font-size:9px;gap:13px;margin-top:6px}.paper-links{margin-top:18px;gap:9px}.resource-link{padding:6px 12px;font-size:11px;gap:9px}.resource-status{font-size:9px}.overview-film{margin-top:24px}.overview-film figcaption{font-size:9px;line-height:1.7;margin-top:9px}.overview-frame>button{font-size:8px;padding:3px 6px;bottom:5px;right:5px}.section{padding-block:36px}h2{font-size:25px;margin-bottom:18px}.insight-lead{font-size:18px;line-height:1.7}.section-intro{font-size:13px;line-height:1.9}.paper-figure{padding:12px 8px 11px}.paper-figure figcaption{font-size:10px;line-height:1.7;margin-top:11px}.method-explanation h3{font-size:17px}.method-explanation p{font-size:12px}.method-explanation figure{padding:13px}.robot-setup figcaption{font-size:10px}.gallery-heading{font-size:18px}.task-tabs{gap:6px}.task-tabs>button{font-size:10px;padding:8px 9px;gap:3px}.task-tabs>button>span{font-size:9px}.task-description h3{font-size:22px}.task-description p{font-size:12px}.task-description p.video-speed{font-size:9px}.gallery-pagination>button{font-size:10px;padding:5px 9px}.failure-section>h3{font-size:20px}.failure-explanation p{font-size:12px}.comparison-table{min-width:410px;font-size:11px}.comparison-table thead{font-size:10px}.comparison-table tbody th{font-size:10px}.table-note{font-size:10px}.real-table{min-width:360px}.results-main h3{font-size:17px}.real-result-intro h3{font-size:18px}.real-result-intro p{font-size:11px}.ablation-row h3{font-size:18px}.ablation-row>div>p{font-size:11px}.ablation-values strong{font-size:30px}.ablation-values strong span{font-size:15px}.ablation-values p{font-size:10px}footer{height:auto;padding-block:22px;gap:12px;flex-wrap:wrap}footer>span{order:3;width:100%;font-size:10px}footer>a:last-child{margin-left:auto}}
.overview-film{max-width:820px;margin-inline:auto}.platform-tabs{display:flex;justify-content:center;gap:9px;margin-bottom:18px}.platform-tabs>button{font-size:12px;line-height:1.5;border:1px solid #cbd6d0;border-radius:4px;padding:7px 16px;color:var(--ink);background:transparent}.platform-tabs>button[aria-selected=true]{background:var(--ink);border-color:var(--ink);color:white}.overview-frame video{aspect-ratio:auto;height:auto;object-fit:contain}.overview-frame .overview-toggle{min-width:44px}.platform-panel{margin:auto}#motivation{padding-bottom:34px}.ablation-video-section{margin-top:45px;padding-top:30px;border-top:1px solid #cbd6d0}.ablation-video-section h3{font-size:23px;margin-bottom:12px}.ablation-video-section>p{font-size:13px;line-height:1.8;color:var(--muted);margin-bottom:20px}.ablation-video-section video{width:100%;height:auto;aspect-ratio:1920/400;object-fit:contain;border-radius:3px}.ablation-video-section figcaption{font-size:11px;color:var(--muted);line-height:1.8;margin-top:12px}#panel-fold-cloth video{aspect-ratio:16/9}
@media(max-width:760px){.overview-film{max-width:680px}.platform-tabs>button{font-size:11px;padding:6px 12px}.ablation-video-section{margin-top:32px;padding-top:26px}.ablation-video-section h3{font-size:21px}}
@media(max-width:440px){.platform-tabs{gap:7px;margin-bottom:13px}.platform-tabs>button{font-size:10px;padding:6px 10px}.ablation-video-section h3{font-size:20px}.ablation-video-section>p{font-size:12px}.ablation-video-section figcaption{font-size:10px}}
@media(prefers-reduced-motion:reduce){html{scroll-behavior:auto}*{transition:none!important}}
.method-explanation figcaption{font-size:12px;line-height:1.7;color:var(--muted);margin-top:15px}
@media(max-width:440px){.method-explanation figcaption{font-size:11px}}