:root { color-scheme:light; --ink:#303030; --muted:#6b6b6b; --line:#e3e3e3; --soft:#f7f7f7; --accent:#a51c30; --policy:#1594d0; --link:#a51c30; --green:#008247; --baseline:#777; }
* { box-sizing:border-box; }
html { scroll-behavior:smooth; scroll-padding-top:24px; }
body { margin:0; background:#fff; color:var(--ink); font:17px/1.65 "Source Sans 3","Helvetica Neue",Helvetica,Arial,sans-serif; }
a { color:var(--link); text-underline-offset:3px; }
p { margin:0 0 18px; }
h1,h2,h3 { line-height:1.25; }
h2 { margin:0 0 22px; font-size:30px; font-weight:600; text-align:center; }
h3 { margin:0 0 10px; font-size:20px; font-weight:600; }
.container { width:min(1080px,calc(100% - 48px)); margin-inline:auto; }
.section { padding-block:38px; }
.section-intro { margin:0 auto 24px; max-width:900px; }
.section-intro p { margin-bottom:0; }
.skip-link { position:fixed; left:12px; top:-80px; padding:10px 18px; background:white; z-index:100; }.skip-link:focus { top:12px; }
:focus-visible { outline:3px solid var(--accent); outline-offset:4px; }
.hero { padding:54px 0 20px; text-align:center; }
h1 { color:var(--accent); font-size:clamp(30px,4vw,46px); font-weight:500; letter-spacing:-1.2px; margin:0 0 26px; }h1 span { font-weight:650; }
.authors { max-width:950px; margin:0 auto 14px; display:flex; flex-wrap:wrap; justify-content:center; column-gap:17px; row-gap:3px; font-size:17px; }.authors span { white-space:nowrap; }sup { font-size:.65em; margin-left:2px; }
.affiliations { display:flex; flex-wrap:wrap; align-items:center; justify-content:center; gap:12px 28px; margin:18px auto 12px; }
.affiliations a { display:flex; align-items:center; justify-content:center; width:96px; height:88px; border-radius:4px; }
.affiliations img { display:block; flex-shrink:0; object-fit:contain; }.equal-contribution { color:var(--muted); font-size:13px; margin:0 0 22px; }
.hero-links { display:flex; justify-content:center; flex-wrap:wrap; gap:12px; }
.button,button { display:inline-flex; align-items:center; justify-content:center; gap:10px; font:inherit; font-size:14px; padding:7px 15px; border:1px solid var(--accent); border-radius:4px; background:white; color:var(--accent); cursor:pointer; text-decoration:none; }
.button:hover,button:hover { background:var(--soft); }
.section-links { display:flex; justify-content:center; flex-wrap:wrap; gap:7px 20px; margin-top:22px; font-size:13px; }.section-links a { color:var(--muted); text-decoration:none; }.section-links a:hover { color:var(--accent); }
.hero-demo { padding:12px 0 30px; }
.teaser-summary { max-width:900px; margin:30px auto 0; text-align:center; font-size:23px; line-height:1.5; }.teaser-summary strong { color:var(--accent); font-weight:600; }
figure { margin:0; }video { display:block; width:100%; aspect-ratio:16/9; object-fit:contain; background:#eee; }.teaser-video { max-width:900px; margin:auto; }.teaser-video figcaption { display:flex; justify-content:space-between; gap:20px; font-size:12px; color:var(--muted); margin-top:8px; }
.abstract-section,.motivation { max-width:900px; }.abstract-section p { text-align:justify; }.motivation { border-top:1px solid var(--line); }.motivation .section-intro { margin-bottom:18px; }.motivation-copy p:last-child { margin-bottom:0; }
.method-section>.container,.demo-section,.experiments-section>.container,.results-section,.reading-width { border-top:1px solid var(--line); padding-top:36px; }
.method-section { padding-bottom:12px; }.pipeline { list-style:none; padding:0; margin:25px auto; max-width:900px; }.pipeline li { margin:0 0 22px; }.pipeline span { color:var(--muted); font-size:13px; }.pipeline h3 { display:inline; font-size:17px; margin-left:10px; }.pipeline p { margin-top:5px; }
.method-figure img { display:block; width:100%; height:auto; }.method-figure figcaption { text-align:center; color:var(--muted); font-size:13px; margin-top:15px; }.method-note { max-width:900px; font-size:15px; color:var(--muted); margin:20px auto 0; }
.experiment { max-width:900px; margin:auto; }.section-heading { position:relative; text-align:center; margin-bottom:20px; }.badge { display:inline-block; color:var(--muted); font-size:12px; }.section-heading h2 { margin-bottom:6px; }.experiment>p { margin-bottom:20px; }
.target-control { margin:22px 0; padding:14px 0; }.target-control label { display:flex; justify-content:space-between; font-size:15px; }output { color:var(--green); font-variant-numeric:tabular-nums; }input[type=range] { width:100%; margin:15px 0 0; accent-color:var(--green); cursor:pointer; }.range-labels { display:flex; justify-content:space-between; color:var(--muted); font-size:12px; }
.legend { display:flex; flex-wrap:wrap; gap:12px 22px; font-size:12px; color:var(--muted); }.legend span { display:flex; align-items:center; gap:7px; }.dot { display:inline-block; width:9px; height:9px; border-radius:50%; background:var(--policy); }.dot.selected { background:var(--green); }.dot.baseline { background:var(--baseline); }
svg { width:100%; height:auto; display:block; margin:12px 0; }svg text { font-family:inherit; font-size:13px; fill:var(--muted); }
.readouts { display:grid; grid-template-columns:1fr 1fr; gap:28px; margin-top:20px; }.readout { padding-top:12px; border-top:2px solid var(--line); }.readout.chosen { border-top-color:var(--green); }.readout span,.readout small { display:block; font-size:12px; color:var(--muted); }.readout strong { display:block; font-size:23px; margin-top:6px; }.chosen strong { color:var(--green); }.readout p { font-size:14px; margin:4px 0 8px; font-variant-numeric:tabular-nums; }.actions { display:flex; flex-wrap:wrap; gap:10px; margin:22px 0; }.note { font-size:13px; color:var(--muted); }
details { border-top:1px solid var(--line); padding-top:16px; font-size:15px; }summary { cursor:pointer; font-weight:600; }details p { margin-top:14px; }
.task-picker { display:flex; flex-wrap:wrap; justify-content:center; gap:8px 22px; border-bottom:1px solid var(--line); margin:26px 0; }.task-picker button { border:0; border-radius:0; border-bottom:2px solid transparent; padding:10px 5px; font-size:16px; color:var(--muted); }.task-picker button[aria-pressed=true] { color:var(--accent); border-bottom-color:var(--accent); }
.task-heading { display:flex; justify-content:space-between; gap:20px; margin-bottom:18px; }.task-heading p { margin:0; font-size:15px; }.task-heading .trial-note { color:var(--muted); font-size:12px; text-align:right; }
.video-grid { display:grid; grid-template-columns:repeat(2,minmax(0,1fr)); gap:22px; }.video-card { min-width:0; }.video-card figcaption { display:flex; justify-content:space-between; gap:10px; margin-bottom:9px; font-size:14px; }.video-card figcaption strong { font-weight:500; white-space:nowrap; }.ours-card figcaption { color:var(--accent); }.video-footer { display:flex; justify-content:space-between; gap:12px; margin-top:8px; }.video-footer p { margin:0; font-size:12px; color:var(--muted); }.video-footer a { text-decoration:none; min-width:24px; text-align:center; }
.playback-row { display:flex; justify-content:space-between; align-items:center; gap:20px; margin-top:18px; }.playback-controls { display:flex; gap:8px; }.playback-row .note { text-align:right; font-size:12px; margin:0; }.playback-status { font-size:13px; color:var(--muted); min-height:1.65em; margin:10px 0 0; }
.table-wrap { overflow-x:auto; margin:28px auto; max-width:900px; }.results-table { width:100%; border-collapse:collapse; text-align:left; }.results-table caption { text-align:left; font-size:13px; color:var(--muted); margin-bottom:16px; }.results-table th,.results-table td { border-bottom:1px solid var(--line); padding:13px 16px; width:33.33%; }.results-table thead th { font-size:13px; border-top:2px solid #555; border-bottom:1px solid #777; }.results-table tbody th { font-size:15px; font-weight:400; }.results-table tbody tr:last-child>* { border-bottom:2px solid #555; }.rate { font-size:16px; font-variant-numeric:tabular-nums; }.rate i { display:none; }.rate.ours { font-weight:700; }
.estimation-result { max-width:900px; margin:auto; display:grid; grid-template-columns:1.7fr 1fr 1fr; gap:25px; padding-top:20px; }.estimation-result h3 { font-size:20px; }.estimation-result p { font-size:14px; margin-bottom:0; }.metric { align-self:center; text-align:center; }.metric strong { font-size:32px; font-weight:500; }.metric strong span { font-size:18px; }.metric.highlight strong { font-weight:700; }.metric p { color:var(--muted); }
.reading-width { max-width:900px; }.paper-section details { margin-bottom:20px; }.paper-section details p { font-size:15px; }.citation-card { margin-top:16px; }.copy-button { margin-bottom:12px; }pre { overflow:auto; background:var(--soft); padding:18px; font-size:12px; line-height:1.7; margin:0; }.site-footer { display:flex; flex-wrap:wrap; justify-content:space-between; gap:18px; border-top:1px solid var(--line); padding:25px 0; font-size:12px; color:var(--muted); }.site-footer p { margin:0; }.wordmark { text-decoration:none; font-weight:600; }
@media(max-width:750px) { .container { width:calc(100% - 32px); }.hero { padding-top:35px; }.authors { font-size:15px; column-gap:14px; }.affiliations { column-gap:18px; }.teaser-summary { font-size:17px; }.section { padding-block:28px; }.method-section>.container,.demo-section,.experiments-section>.container,.results-section,.reading-width { padding-top:28px; }.video-card figcaption { flex-direction:column; gap:2px; }.estimation-result { grid-template-columns:1fr 1fr; }.estimation-result>div:first-child { grid-column:1/-1; }.metric { text-align:left; }.task-picker { gap:5px 16px; }.task-picker button { font-size:14px; } }
@media(max-width:550px) { h1 { font-size:30px; letter-spacing:-.7px; }h1 br { display:none; }h2 { font-size:26px; }body { font-size:16px; }.section-links { gap:6px 13px; font-size:12px; }.teaser-video figcaption { flex-direction:column; gap:3px; }.abstract-section p { text-align:left; }.pipeline h3 { display:block; margin:4px 0; }.readouts { gap:16px; }.readout p { font-size:12px; }.readout strong { font-size:20px; }.task-heading { flex-direction:column; gap:8px; }.task-heading .trial-note { text-align:left; }.video-grid { grid-template-columns:1fr; gap:24px; }.video-card figcaption { flex-direction:row; font-size:13px; }.playback-row { flex-direction:column; align-items:start; gap:12px; }.playback-row .note { text-align:left; }.results-table th,.results-table td { padding:12px 7px; }.results-table thead th { font-size:11px; }.results-table tbody th { font-size:13px; }.rate { font-size:14px; }.site-footer { flex-direction:column; gap:10px; text-align:center; } }
@media(prefers-reduced-motion:reduce) { html { scroll-behavior:auto; } }

/* Scientific colors are reserved for the force visualization. */
.rate.ours,.metric.highlight strong { color:var(--accent); }

.force-search-steps { display:grid; grid-template-columns:repeat(3,minmax(0,1fr)); gap:14px; padding:0; margin:24px 0; list-style:none; font-size:14px; }
.force-search-steps li { display:flex; align-items:center; gap:9px; }
.force-search-steps span { display:inline-flex; align-items:center; justify-content:center; flex-shrink:0; width:26px; height:26px; border-radius:50%; color:var(--accent); background:#f6eded; }
.force-target-presets { display:flex; flex-wrap:wrap; gap:8px; margin:-6px 0 22px; }
.force-target-presets button[aria-pressed=true] { background:#f6eded; border-color:var(--accent); }
.force-target-label { fill:var(--accent); }
.force-decision { padding:16px 18px; border-left:3px solid var(--green); background:#f2f7f4; margin-top:14px; }
.force-decision p { margin:0; }
.force-decision p:first-child { font-size:17px; font-weight:600; }
.force-decision .note { margin-top:6px; }
button:disabled { opacity:.55; cursor:default; }
@media(max-width:650px) { .force-search-steps { grid-template-columns:1fr; gap:10px; }.force-decision p:first-child { font-size:16px; } }

.task-comparison { margin-top:32px; padding-top:28px; border-top:1px solid var(--line); }
.experiments-section .section-intro .note { margin-top:14px; }
.results-section .recorded-force-result { margin-top:0; padding-top:0; border-top:0; }

.authors a { color:inherit; text-decoration:none; }.authors a:hover { color:var(--accent); text-decoration:underline; }

@media(max-width:550px) { .affiliations { gap:8px; margin-block:16px 10px; }.affiliations a { width:64px; height:76px; }.affiliation-harvard { width:64px; height:64px; }.affiliation-mit { width:64px; height:auto; }.affiliation-penn { width:auto; height:50px; }.affiliation-stanford { width:76px; height:76px; } }
@media(max-width:750px) { .teaser-summary { font-size:20px; margin-top:24px; } }