:root {
  --text: #333333;
  --muted: #626262;
  --blue: #2498e8;
  --button: #333333;
  --line: #dedede;
  --soft: #fafafa;
  --accent: #b2292e;
}

* { box-sizing: border-box; }
html { scroll-behavior: smooth; }
body {
  margin: 0;
  overflow-x: hidden;
  color: var(--text);
  background: #ffffff;
  font-family: 'Google Sans', 'Noto Sans', Arial, sans-serif;
  font-size: 18px;
  line-height: 1.55;
}
img { display: block; max-width: 100%; }
a { color: var(--blue); }
[id] { scroll-margin-top: 4.5rem; }
.page-container { max-width: 1100px !important; }
.text-container { max-width: 900px !important; }

.contents-sidebar {
  position: fixed;
  top: 0;
  right: 0;
  left: 0;
  z-index: 40;
  padding: 0.45rem 0.75rem;
  border-bottom: 1px solid #e5e5e5;
  background: rgba(255, 255, 255, 0.96);
  box-shadow: 0 3px 14px rgba(0, 0, 0, 0.05);
  backdrop-filter: blur(10px);
}
main { padding-top: 3.45rem; }
.contents-heading { display: none; }
.contents-links {
  display: flex;
  gap: 0.2rem;
  overflow-x: auto;
  scrollbar-width: thin;
}
.contents-links a {
  flex: 0 0 auto;
  padding: 0.55rem 0.7rem;
  border-bottom: 3px solid transparent;
  color: #666;
  font-size: 0.82rem;
  line-height: 1.25;
  white-space: nowrap;
  transition: color 150ms ease, background 150ms ease, border-color 150ms ease;
}
.contents-links a:hover {
  color: #263d5c;
  background: #f2f5fa;
}
.contents-links a.is-active {
  border-bottom-color: #4b77ae;
  color: #1f3858;
  background: #e8eef7;
  font-weight: 700;
}

.publication-header {
  padding: 3.5rem 1.5rem 2rem;
  background: #fff;
}
.publication-title {
  max-width: 1060px;
  margin: 0 auto !important;
  color: #303030;
  font-family: 'Google Sans', 'Noto Sans', sans-serif;
  font-size: clamp(2.6rem, 5vw, 4.25rem) !important;
  font-weight: 700 !important;
  line-height: 1.06 !important;
  letter-spacing: -0.035em;
}
.publication-subtitle {
  margin: 0.65rem 0 2.1rem;
  color: #303030;
  font-size: clamp(1.45rem, 2.5vw, 2rem);
  font-weight: 500;
}
.publication-authors {
  max-width: 980px;
  margin: 0 auto;
  font-size: 1.2rem;
  line-height: 1.9;
}
.publication-authors a,
.publication-authors span {
  color: var(--blue);
  white-space: nowrap;
}
.publication-authors a:hover { text-decoration: underline; }
.author-info {
  margin: 0.15rem auto 0;
  color: #505050;
  font-size: 1rem;
}
.publication-venue {
  margin: 0.9rem auto 0;
  color: var(--accent);
  font-size: 1.05rem;
  font-weight: 700;
}
.publication-links {
  margin-top: 2rem;
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 0.5rem;
}
.link-button {
  display: inline-flex;
  align-items: center;
  justify-content: center;
  gap: 0.45rem;
  padding: 0.55rem 1.15rem;
  border: 0;
  border-radius: 999px;
  color: #fff;
  background: var(--button);
  font-size: 0.98rem;
  font-weight: 500;
  transition: background 150ms ease, transform 150ms ease;
}
.link-button:hover { color: #fff; background: #111; transform: translateY(-1px); }
.button-symbol { color: #fff; font-size: 0.8rem; }

.section { padding: 4.7rem 1.5rem; }
.abstract-section { padding-top: 4.8rem; padding-bottom: 3.5rem; }
.section-title {
  margin: 0 0 1.5rem;
  color: #303030;
  font-family: 'Google Sans', 'Noto Sans', sans-serif;
  font-size: 2.2rem;
  font-weight: 700;
  line-height: 1.2;
  text-align: center;
}
.section-subtitle {
  margin: -0.5rem 0 2.2rem;
  color: #111;
  font-size: 1.55rem;
  font-weight: 400;
  line-height: 1.25;
  text-align: center;
}
.abstract-text {
  color: #505050;
  font-family: 'Noto Sans', Arial, sans-serif;
  font-size: 1.02rem;
  line-height: 1.55;
  text-align: justify;
}
.section-intro {
  max-width: 850px;
  margin: -0.7rem auto 2rem;
  color: var(--muted);
  text-align: center;
}
.alternate-section { background: var(--soft); }

.paper-figure {
  max-width: 1050px;
  margin: 0 auto;
}
.paper-figure img { width: 100%; }
.paper-figure figcaption {
  max-width: 900px;
  margin: 0.75rem auto 0;
  color: #777;
  font-family: 'Noto Sans', Arial, sans-serif;
  font-size: 0.82rem;
  line-height: 1.45;
  text-align: center;
}
.figure-card {
  padding: 1rem 1rem 0.9rem;
  border: 1px solid #e7e7e7;
  border-radius: 12px;
  background: #fff;
  box-shadow: 0 5px 22px rgba(0, 0, 0, 0.055);
}
.figure-card a {
  display: block;
  border-radius: 7px;
  overflow: hidden;
}
.sensor-figure-stack {
  max-width: 1050px;
  margin: 0 auto;
  display: grid;
  grid-template-columns: minmax(0, 1.06fr) minmax(0, 0.94fr);
  align-items: stretch;
  gap: 1.15rem;
}
.sensor-panel {
  width: 100%;
  margin: 0 auto;
  padding: 1.1rem 1.1rem 0.9rem;
  display: flex;
  flex-direction: column;
  overflow: hidden;
  border: 1px solid #e7e7e7;
  border-radius: 12px;
  background: #fff;
  box-shadow: 0 5px 22px rgba(0, 0, 0, 0.055);
}
.sensor-panel-design,
.sensor-panel-representations { max-width: none; }
.sensor-panel a {
  display: block;
  border-radius: 7px;
  overflow: hidden;
}
.sensor-panel img {
  width: 100%;
  height: auto;
}
.sensor-panel figcaption {
  margin: auto auto 0;
  padding-top: 0.8rem;
  color: #666;
  font-family: 'Noto Sans', Arial, sans-serif;
  font-size: 0.84rem;
  line-height: 1.5;
  text-align: center;
}
.sensor-panel figcaption strong { color: #333; }
.plain-columns {
  max-width: 1020px;
  margin: 3rem auto 0;
  display: grid;
  gap: 2rem;
}
.three-columns, .cue-columns { grid-template-columns: repeat(3, minmax(0, 1fr)); }
.plain-columns article { text-align: center; }
.plain-columns h3 {
  margin-bottom: 0.55rem;
  color: #222;
  font-size: 1.15rem;
  font-weight: 700;
}
.plain-columns p {
  color: var(--muted);
  font-family: 'Noto Sans', Arial, sans-serif;
  font-size: 0.88rem;
  line-height: 1.55;
}
.cue-columns { margin-top: 0; margin-bottom: 2.5rem; }
.cue-label {
  display: inline-block;
  margin-bottom: 0.4rem;
  color: var(--accent);
  font-size: 0.72rem;
  font-weight: 700;
  letter-spacing: 0.1em;
}
.task-list { margin-top: 0; margin-bottom: 2.5rem; }

.video-shell {
  position: relative;
  width: 100%;
  aspect-ratio: 16 / 9;
  overflow: hidden;
  border-radius: 8px;
  background: #0d0d0d;
  box-shadow: 0 2px 14px rgba(0, 0, 0, 0.12);
}
.video-shell video {
  width: 100%;
  height: 100%;
  display: block;
  object-fit: contain;
  background: #0d0d0d;
}
.overview-video {
  max-width: 960px;
  margin: 0 auto;
}
.video-grid {
  display: grid;
  gap: 1rem;
}
.success-video-grid {
  grid-template-columns: repeat(3, minmax(0, 1fr));
  margin: 0 auto 3rem;
}
.success-video-grid .square-video { aspect-ratio: 1 / 1; }
.video-card {
  min-width: 0;
  overflow: hidden;
  border: 1px solid #e5e5e5;
  border-radius: 10px;
  background: #fff;
}
.video-card > h3 {
  margin: 0.85rem 1rem 0.2rem;
  color: #262626;
  font-size: 1rem;
  font-weight: 700;
  text-align: center;
}
.video-card > p {
  margin: 0 1rem 1rem;
  color: var(--muted);
  font-family: 'Noto Sans', Arial, sans-serif;
  font-size: 0.78rem;
  text-align: center;
}
.failure-section { background: #fff; }
.failure-group { margin-top: 3.5rem; }
.failure-group:first-of-type { margin-top: 2.5rem; }
.failure-group-title {
  margin-bottom: 1rem;
  color: #333;
  font-size: 1.35rem;
  font-weight: 700;
  text-align: center;
}
.failure-video-grid { grid-template-columns: repeat(4, minmax(0, 1fr)); }
.video-caption {
  padding: 0.75rem 0.9rem 0.85rem;
  display: flex;
  align-items: center;
  justify-content: space-between;
  gap: 0.6rem;
  font-size: 0.83rem;
}
.video-caption strong { color: #333; }
.video-caption span {
  padding: 0.18rem 0.5rem;
  border-radius: 999px;
  color: #922d31;
  background: #f8e9ea;
  font-family: 'Noto Sans', Arial, sans-serif;
  font-size: 0.7rem;
  font-weight: 700;
}

.results-section { padding-bottom: 5.5rem; }
.result-title {
  margin: 2.4rem 0 0.75rem;
  color: #333;
  font-size: 1.45rem;
  font-weight: 700;
  text-align: center;
}
.result-title:first-of-type { margin-top: 0; }
.second-result { margin-top: 4.5rem; }
.table-scroll { max-width: 980px; margin: 0 auto; overflow-x: auto; }
.results-table {
  width: 100%;
  min-width: 680px;
  border-collapse: collapse;
  color: #3b3b3b;
  font-family: 'Noto Sans', Arial, sans-serif;
  font-size: 0.9rem;
}
.results-table th,
.results-table td {
  padding: 0.8rem 0.9rem;
  border-bottom: 1px solid var(--line);
  text-align: center;
}
.results-table th:first-child,
.results-table td:first-child { text-align: left; }
.results-table th:not(:first-child),
.results-table td:not(:first-child) { white-space: nowrap; }
.results-table th {
  border-top: 2px solid #555;
  border-bottom: 1px solid #555;
  color: #222;
  font-weight: 700;
}
.results-table tbody tr:last-child td { border-bottom: 2px solid #555; }
.best-row { font-weight: 700; background: #f2f8fc; }

.conclusion-section {
  padding-top: 4.8rem;
  padding-bottom: 5.2rem;
}
.conclusion-content {
  max-width: 900px !important;
}
.conclusion-summary,
.conclusion-limitations {
  color: #505050;
  font-family: 'Noto Sans', Arial, sans-serif;
  font-size: 0.98rem;
  line-height: 1.7;
}
.conclusion-summary {
  margin: -0.4rem 0 2rem;
  text-align: justify;
}
.conclusion-list {
  margin: 0;
  padding-left: 2rem;
  color: var(--text);
  font-family: 'Noto Sans', Arial, sans-serif;
}
.conclusion-list li {
  padding: 0 0 1.35rem 0.55rem;
}
.conclusion-list li + li {
  padding-top: 1.35rem;
  border-top: 1px solid var(--line);
}
.conclusion-list li::marker {
  color: var(--accent);
  font-weight: 700;
}
.conclusion-list h3 {
  margin: 0 0 0.35rem;
  color: #303030;
  font-size: 1.05rem;
  font-weight: 700;
}
.conclusion-list p {
  margin: 0;
  color: #5a5a5a;
  font-size: 0.93rem;
  line-height: 1.68;
}
.conclusion-limitations {
  margin: 0.35rem 0 0;
  padding: 1rem 1.1rem;
  border-left: 3px solid var(--accent);
  background: #fff;
}
.conclusion-limitations strong { color: #333; }
.conclusion-actions {
  margin-top: 2rem;
}
.bibtex-section { background: #fff; }
.bibtex-heading {
  display: flex;
  align-items: center;
  justify-content: space-between;
  gap: 1rem;
}
.bibtex-heading .section-title {
  margin: 0;
  text-align: left;
}
.copy-button {
  display: inline-flex;
  align-items: center;
  gap: 0.45rem;
  padding: 0.5rem 0.85rem;
  border: 1px solid #d8d8d8;
  border-radius: 7px;
  color: #444;
  background: #fff;
  font-family: 'Noto Sans', Arial, sans-serif;
  font-size: 0.82rem;
  font-weight: 600;
  cursor: pointer;
  transition: border-color 150ms ease, background 150ms ease;
}
.copy-button:hover {
  border-color: #aaa;
  background: #f7f7f7;
}
.copy-button.is-copied {
  border-color: #7da18a;
  color: #315e40;
  background: #eef7f1;
}
.bibtex-block {
  margin: 1.5rem 0 0;
  padding: 1.6rem 1.8rem;
  overflow-x: auto;
  border: 1px solid #ececec;
  border-radius: 8px;
  color: #3d3d3d;
  background: #f7f7f7;
  font-family: Consolas, 'Courier New', monospace;
  font-size: 0.83rem;
  line-height: 1.7;
  white-space: pre;
}
.bibtex-block code {
  color: inherit;
  font-family: inherit;
}
.bibtex-note {
  margin: 0.8rem 0 0;
  color: #777;
  font-family: 'Noto Sans', Arial, sans-serif;
  font-size: 0.78rem;
}
.site-footer {
  padding: 1.7rem 1rem;
  color: #888;
  background: #fff;
  font-size: 0.78rem;
}
.site-footer a { color: #666; text-decoration: underline; }

@media (min-width: 1520px) {
  [id] { scroll-margin-top: 1.5rem; }
  main { padding-top: 0; }
  .contents-sidebar {
    position: fixed;
    top: 50%;
    right: auto;
    left: 16px;
    width: 204px;
    max-height: calc(100vh - 2rem);
    padding: 1.2rem 0.85rem;
    overflow-y: auto;
    transform: translateY(-50%);
    border: 1px solid #e5e5e5;
    border-radius: 0 14px 14px 0;
    box-shadow: 0 8px 24px rgba(0, 0, 0, 0.1);
  }
  .contents-heading {
    display: block;
    margin: 0 0 0.7rem 0.65rem;
    color: #999;
    font-size: 0.78rem;
    font-weight: 700;
    letter-spacing: 0.08em;
    text-transform: uppercase;
  }
  .contents-links {
    display: block;
    overflow: visible;
  }
  .contents-links a {
    display: block;
    padding: 0.52rem 0.65rem;
    border-bottom: 0;
    border-left: 3px solid transparent;
    border-radius: 0 7px 7px 0;
    font-size: 0.82rem;
    white-space: normal;
  }
  .contents-links a.is-active { border-left-color: #4b77ae; }
}

@media (max-width: 820px) {
  .three-columns, .cue-columns { grid-template-columns: 1fr; gap: 1.6rem; }
  .plain-columns { max-width: 620px; }
  .publication-authors { font-size: 1.05rem; }
  .failure-video-grid { grid-template-columns: repeat(2, minmax(0, 1fr)); }
  .sensor-figure-stack {
    max-width: 720px;
    grid-template-columns: 1fr;
  }
}

@media (max-width: 600px) {
  body { font-size: 16px; }
  .publication-header { padding: 2.7rem 1rem 1rem; }
  .publication-title { font-size: 2.35rem !important; }
  .publication-subtitle { margin-bottom: 1.5rem; font-size: 1.25rem; }
  .publication-authors { line-height: 1.7; }
  .author-info { font-size: 0.88rem; }
  .section { padding: 3.5rem 1rem; }
  .abstract-section { padding-top: 4rem; }
  .section-title { font-size: 1.85rem; }
  .section-subtitle { font-size: 1.25rem; }
  .abstract-text { font-size: 0.95rem; text-align: left; }
  .paper-figure figcaption { font-size: 0.75rem; }
  .figure-card { padding: 0.65rem 0.65rem 0.75rem; }
  .sensor-figure-stack { gap: 1rem; }
  .sensor-panel { padding: 0.65rem 0.65rem 0.75rem; }
  .sensor-panel figcaption { font-size: 0.75rem; }
  .success-video-grid, .failure-video-grid { grid-template-columns: 1fr; }
  .success-video-grid { max-width: 430px; }
  .failure-group { margin-top: 3rem; }
  .bibtex-block {
    padding: 1rem;
    font-size: 0.72rem;
  }
}

@media (prefers-reduced-motion: reduce) {
  html { scroll-behavior: auto; }
  *, *::before, *::after { transition: none !important; }
}