:root { --ink:#1f1d1a; --muted:#6f6a5f; --line:#e7e1d5; --accent:#cc785c; --accent-ink:#a8532f; --accent-soft:#f2e8e0; --paper:#faf9f5; --paper-alt:#f0eee6; --sans:'Inter',Arial,Helvetica,system-ui,sans-serif; --serif:'Fraunces',Georgia,'Times New Roman',serif; }
* { box-sizing:border-box; }
html { scroll-behavior:smooth; scroll-padding-top:90px; }
body { margin:0; color:var(--ink); background:var(--paper); font:17px/1.7 var(--sans); -webkit-font-smoothing:antialiased; }
a { color:var(--accent-ink); text-decoration:none; }
a:hover { text-decoration:underline; }
button,select,input { font:inherit; color:inherit; }
img { display:block; max-width:100%; height:auto; }
figure,p { margin:0; }
h1,h2,h3 { margin:0; line-height:1.25; font-weight:600; }
h2 { font:500 39px/1.2 var(--serif); text-align:center; margin-bottom:38px; letter-spacing:-.035em; }
h3 { font:500 30px/1.25 var(--serif); text-align:center; margin-bottom:24px; }
.wrap { width:min(1100px,calc(100% - 64px)); margin-inline:auto; }
.narrow { max-width:1000px; }
:focus-visible { outline:3px solid var(--accent-ink); outline-offset:4px; }
.skip-link { position:fixed; top:-80px; left:20px; padding:10px 20px; background:#fff; z-index:100; }
.skip-link:focus { top:15px; }
.site-nav { position:sticky; top:0; z-index:30; background:rgba(250,249,245,.95); border-bottom:1px solid var(--line); backdrop-filter:blur(12px); }
.nav-inner { display:flex; align-items:center; justify-content:space-between; min-height:66px; gap:28px; }
.brand { display:inline-flex; align-items:center; gap:10px; color:var(--ink); font-size:19px; font-weight:600; letter-spacing:-.04em; white-space:nowrap; }
.brand:hover { text-decoration:none; }
.brand b { color:var(--accent-ink); font-weight:inherit; }
.desktop-nav { display:flex; align-items:center; gap:26px; }
[data-section-link] { color:var(--muted); font-size:13px; line-height:1.4; padding:8px 0; transition:color .15s; }
[data-section-link]:hover { color:var(--ink); text-decoration:none; }
[data-section-link][aria-current] { color:var(--accent-ink); text-decoration:underline; text-underline-offset:7px; }
.contents-sidebar { display:none; }
.contents-sidebar h2 { margin:0 0 13px 16px; text-align:left; font:700 11px/1.4 var(--sans); text-transform:uppercase; letter-spacing:.09em; color:var(--muted); }
.contents-sidebar ul { list-style:none; padding:0; margin:0; border-left:2px solid var(--line); }
.contents-sidebar a { display:block; margin-left:-2px; padding:9px 0 9px 16px; border-left:2px solid transparent; font-size:13px; line-height:1.4; text-decoration:none; }
.contents-sidebar a[aria-current] { border-left-color:var(--accent); font-weight:700; text-decoration:none; }
.mobile-nav { display:none; }
.mobile-nav:not([open]) nav { display:none; }
.reading-progress { display:block; position:absolute; bottom:-1px; width:100%; height:2px; border:0; appearance:none; background:transparent; color:var(--accent); }
.reading-progress::-webkit-progress-bar { background:transparent; }
.reading-progress::-webkit-progress-value { background:var(--accent); }
.reading-progress::-moz-progress-bar { background:var(--accent); }
.keep-together { white-space:nowrap; }
.publication-header { padding:66px 0 36px; text-align:center; }
.publication-header h1 { max-width:960px; margin:0 auto 26px; text-wrap:balance; }
.title-lead { display:block; font:500 clamp(42px,6vw,76px)/1.06 var(--serif); letter-spacing:-.055em; }
.title-detail { display:block; max-width:860px; margin:19px auto 0; font-size:clamp(22px,2.3vw,30px); line-height:1.36; letter-spacing:-.026em; font-weight:400; color:var(--muted); }
.publication-authors { font-size:15px; }
.publication-author { white-space:nowrap; }
.publication-authors a { color:var(--accent-ink); }
.publication-venue { font-size:12px; color:var(--muted); margin-top:3px; }
.publication-links { display:flex; justify-content:center; align-items:center; gap:10px; flex-wrap:wrap; margin-top:25px; }
.resource-button { display:inline-flex; align-items:center; justify-content:center; gap:8px; min-height:43px; padding:9px 18px; border:1px solid var(--line); border-radius:999px; background:#fff; color:var(--ink); font-size:13px; line-height:1.4; transition:transform .18s ease,border-color .18s ease,background .18s ease; }
.resource-button:hover { border-color:var(--accent); color:var(--accent-ink); text-decoration:none; transform:translateY(-2px); }
.resource-button svg { width:19px; height:19px; stroke:currentColor; stroke-width:1.7; fill:none; stroke-linecap:round; stroke-linejoin:round; }
.resource-button .github-icon { fill:currentColor; stroke:none; }
.resource-button small { font-size:10px; color:var(--muted); }
.resource-button:disabled { color:#969184; background:transparent; cursor:not-allowed; transform:none; border-color:var(--line); }
.resource-explore { background:var(--accent-ink); border-color:var(--accent-ink); color:#fff; }
.resource-explore:hover { color:#fff; background:#914726; border-color:#914726; }
.resource-explore span { font-size:17px; margin-left:7px; }
.teaser { max-width:1000px; padding:0 0 70px; }
.media-slot { aspect-ratio:16/9; width:100%; background:var(--paper-alt); border:1px solid var(--line); border-radius:16px; overflow:hidden; }
.teaser .media-slot { box-shadow:0 16px 50px -30px #503c2855; background:#fff; }
.media-placeholder { height:100%; display:flex; flex-direction:column; align-items:center; justify-content:center; color:var(--muted); gap:7px; }
.play-mark { display:inline-grid; place-items:center; width:46px; height:46px; border:1px solid var(--line); border-radius:50%; font-size:23px; line-height:1; color:var(--accent-ink); }
.media-placeholder small { font-size:12px; color:var(--muted); }
.teaser-cover { position:relative; padding:26px 30px 22px; justify-content:space-between; }
.cover-heading { display:flex; align-items:center; align-self:stretch; gap:12px; font-size:14px; text-align:left; }
.cover-heading .play-mark { width:34px; height:34px; font-size:18px; }
.cover-heading small { margin-left:auto; padding:4px 9px; border:1px solid var(--line); border-radius:5px; font-size:10px; }
.teaser-preview-grid { display:grid; grid-template-columns:repeat(3,minmax(0,1fr)); grid-template-rows:repeat(2,minmax(0,1fr)); width:100%; min-height:0; flex:1; gap:0 30px; margin:12px 0; }
.teaser-preview-grid figure { display:flex; flex-direction:column; align-items:center; min-height:0; }
.teaser-preview-grid img { width:100%; min-height:0; flex:1; object-fit:contain; }
.teaser-preview-grid figcaption { flex:none; margin:0; font:12px/1.4 var(--sans); color:var(--muted); text-align:center; }
.cover-note { font-size:11px; color:var(--muted); text-align:center; letter-spacing:.025em; }
.media-slot video { width:100%; height:100%; display:block; background:#171717; }
.abstract-section { padding:62px 0; background:var(--paper-alt); border-block:1px solid var(--line); }
.abstract-section .narrow { display:block; max-width:860px; }
.abstract-section h2 { text-align:center; margin:0 0 28px; }
.abstract-section p { text-align:justify; text-align-last:left; hyphens:auto; font-size:16px; line-height:1.85; color:#35322c; }
.section { padding-top:76px; padding-bottom:24px; }
.paper-figure { margin:32px auto 48px; }
.paper-figure .figure-link { padding:22px; background:#fff; border:1px solid var(--line); border-radius:12px; transition:box-shadow .2s ease,border-color .2s ease; }
.paper-figure .figure-link:hover { border-color:var(--accent); box-shadow:0 10px 25px -20px #503c2866; }
.paper-figure img { width:100%; }
.intro-figure { max-width:650px; }
.figure-link { display:block; cursor:zoom-in; }
figcaption { max-width:940px; margin:20px auto 0; font-size:14px; line-height:1.8; text-align:left; color:var(--muted); }
.simulation-figure { margin-bottom:44px; }
.results-table-block { margin:0 0 66px; }
.table-scroll { overflow-x:auto; padding:3px 0 8px; }
.results-table { width:100%; min-width:990px; border-collapse:collapse; border-top:2px solid var(--ink); border-bottom:2px solid var(--ink); font-size:14px; line-height:1.5; font-variant-numeric:tabular-nums; }
.results-table th,.results-table td { padding:10px 5px; text-align:center; white-space:nowrap; }
.results-table thead { border-bottom:1.5px solid var(--ink); }
.results-table thead th { font-weight:500; padding-block:8px; }
.results-table thead tr:nth-child(2) th { border-top:1px solid var(--line); }
.results-table thead tr:last-child th { border-top:1px solid var(--line); }
.results-table thead tr:first-child th:first-child,.results-table tbody th { text-align:left; padding-left:9px; }
.results-table tbody th { font-weight:400; }
.results-table .group-start,.results-table .average { border-left:1px solid var(--line); }
.results-table tbody tr:not(.ours):hover { background:var(--paper-alt); }
.results-table .ours { border-top:1.5px solid var(--ink); background:var(--accent-soft); }
.results-table .ours th { font-weight:700; }
.results-table .ours th span { font-weight:400; font-size:12px; }
.rank-first,.rank-second { display:inline-block; padding:1px 5px; border-radius:5px; color:#29242d; }
.rank-first { background:#ff9999; font-weight:700; }
.rank-second { background:#fef8ad; text-decoration:underline; text-underline-offset:3px; }
.table-caption { font-size:12px; line-height:1.75; color:var(--muted); margin:14px 0 0; }
.grasp-gallery { padding-top:16px; }
.grasp-gallery h3 { margin-bottom:35px; font-size:39px; letter-spacing:-.035em; }
.loading-note { padding:45px 0; color:var(--muted); text-align:center; }
.gallery-stage { container-type:inline-size; border:1px solid var(--line); border-radius:16px; overflow:hidden; background:#fff; box-shadow:0 16px 44px -36px #503c2855; }
.gallery-toolbar { display:flex; flex-wrap:nowrap; align-items:center; gap:16px; padding:16px 20px; background:var(--paper-alt); border-bottom:1px solid var(--line); }
.object-bar { display:flex; flex:1 1 auto; min-width:0; align-items:center; gap:10px; }
.control-label { font-size:13px; font-weight:600; color:var(--muted); flex-shrink:0; }
.object-picker { display:flex; flex:1 1 auto; align-items:center; min-width:0; max-width:300px; border:1px solid var(--line); border-radius:9px; background:#fff; }
.object-select { flex:1; min-width:0; width:100%; border:0; border-inline:1px solid var(--line); background:#fff; color:var(--ink); font:inherit; font-size:13px; font-weight:600; padding:10px 8px; cursor:pointer; white-space:nowrap; }
.object-step { flex:0 0 30px; height:38px; padding:0; border:0; border-radius:8px; background:transparent; color:var(--muted); font-size:18px; cursor:pointer; }
.object-step:hover:not(:disabled) { background:var(--accent-soft); }
.object-step:disabled { opacity:.4; cursor:default; }
.object-count { color:var(--muted); font-size:11px; white-space:nowrap; font-variant-numeric:tabular-nums; }
.object-select:focus-visible,.object-step:focus-visible { outline:2px solid var(--accent-ink); outline-offset:3px; }
.grasp-row { padding:24px 26px 26px; }
.grasp-row + .grasp-row { border-top:1px solid var(--line); }
.grasp-row > h4 { display:flex; gap:15px; align-items:center; font-size:16px; margin:0 0 18px; font-weight:500; color:var(--muted); }
.grasp-row > h4::after { content:''; height:1px; flex:1; background:var(--line); }
.grasp-grid { display:grid; grid-template-columns:repeat(3,minmax(0,1fr)); gap:20px; }
.grasp-card { min-width:0; position:relative; background:var(--hand-wash); border-radius:10px; border:1px solid #00000005; padding:17px 0 6px; overflow:hidden; transition:transform .18s ease; }
.grasp-card:hover { transform:translateY(-2px); }
.grasp-card[data-hand=allegro] { --hand-wash:#fffcf0; --hand-ink:#a77b15; }
.grasp-card[data-hand=barrett] { --hand-wash:#f0f8f4; --hand-ink:#477c67; }
.grasp-card[data-hand=shadowhand] { --hand-wash:#f6f0fb; --hand-ink:#88679e; }
.grasp-card[data-hand=apex_hand] { --hand-wash:#fff3f5; --hand-ink:#b4687a; }
.grasp-card[data-hand=leaphand] { --hand-wash:#edf9f8; --hand-ink:#278b89; }
.grasp-card[data-hand=robotiq_3finger] { --hand-wash:#fbf0f7; --hand-ink:#a95e8e; }
.grasp-viewport { height:295px; position:relative; overflow:hidden; }
.grasp-viewport canvas { display:block; width:100%; height:100%; cursor:grab; touch-action:none; }
.grasp-viewport canvas:active { cursor:grabbing; }
.grasp-preview { position:absolute; inset:0; width:100%; height:100%; object-fit:contain; }
.grasp-preview[hidden],.grasp-retry[hidden] { display:none; }
.grasp-card[data-ready=false] canvas { visibility:hidden; }
.grasp-status { position:absolute; inset:auto 10px 9px; display:block; text-align:center; padding:5px 9px; border-radius:6px; background:#ffffffdf; font-size:12px; color:var(--muted); pointer-events:none; }
.grasp-retry { position:absolute; left:50%; top:50%; transform:translate(-50%,-50%); border:1px solid var(--line); border-radius:8px; padding:9px 14px; background:white; color:var(--muted); cursor:pointer; }
.grasp-status[hidden] { display:none; }
.grasp-card figcaption { display:flex; justify-content:center; align-items:center; gap:9px; margin:0; font-size:15px; font-weight:600; line-height:1.4; color:var(--ink); }
.grasp-card figcaption::before { content:''; width:7px; height:7px; border-radius:50%; background:var(--hand-ink); }
.grasp-bar { display:flex; flex:0 0 auto; align-items:center; gap:10px; padding-left:16px; border-left:1px solid var(--line); }
.grasp-options { display:flex; align-items:center; gap:2px; }
.grasp-choice,.grasp-step { width:26px; height:36px; padding:0; border-radius:7px; border:1px solid transparent; background:transparent; font-size:12px; cursor:pointer; font-variant-numeric:tabular-nums; }
.grasp-compact { display:none; width:78px; height:38px; border:1px solid var(--line); border-radius:8px; padding:0 6px; background:#fff; font-size:12px; font-variant-numeric:tabular-nums; }
.grasp-choice:hover,.grasp-step:hover { background:var(--accent-soft); }
.grasp-choice[aria-pressed=true] { background:var(--accent-ink); color:#fff; }
.grasp-step { font-size:20px; }
.reset-view { margin-left:auto; padding:6px 11px; border:1px solid var(--line); border-radius:6px; background:transparent; font-size:11px; cursor:pointer; }
.reset-view:hover { background:var(--accent-soft); }
.reset-view-icon { display:inline-grid; place-items:center; flex:0 0 36px; width:36px; height:38px; padding:0; margin:0; border-radius:8px; color:var(--muted); }
.reset-view-icon svg { width:18px; height:18px; fill:none; stroke:currentColor; stroke-width:1.8; stroke-linecap:round; stroke-linejoin:round; }
@container(max-width:880px) {
  .grasp-options { display:none; }
  .grasp-compact { display:block; }
  .object-picker { max-width:none; }
}
@container(max-width:520px) {
  .gallery-toolbar { gap:8px; padding:12px; }
  .gallery-toolbar .control-label,.object-count,.object-step { display:none; }
  .grasp-bar { padding:0; border:0; }
  .object-select { border:0; border-radius:8px; padding:10px 6px; font-size:12px; }
  .reset-view-icon { flex-basis:34px; width:34px; }
}
.sr-only { position:absolute; width:1px; height:1px; padding:0; margin:-1px; overflow:hidden; clip-path:inset(50%); white-space:nowrap; border:0; }
.real-section { padding-top:90px; padding-bottom:78px; }
.real-videos { display:grid; grid-template-columns:1fr 1fr; gap:26px; }
.real-videos h3 { font:500 16px/1.4 var(--sans); text-align:left; margin-bottom:12px; color:var(--muted); }
.real-videos figure { min-width:0; }
.real-videos .media-slot { aspect-ratio:8/5; }
.footer { display:flex; align-items:center; justify-content:space-between; flex-wrap:wrap; gap:15px; padding:27px max(32px,calc((100% - 1100px)/2)); border-top:1px solid var(--line); color:var(--muted); font-size:12px; }
.footer-links { display:flex; gap:24px; }
.footer a { color:var(--muted); }
dialog { padding:52px 25px 18px; border:0; max-width:min(1500px,96vw); width:max-content; max-height:94dvh; overflow:auto; }
dialog::backdrop { background:rgba(22,27,29,.84); }
dialog img { max-height:78dvh; max-width:calc(96vw - 50px); width:auto; object-fit:contain; margin:auto; }
dialog p { max-width:850px; font-size:14px; margin:12px auto 0; color:var(--muted); }
.dialog-close { position:absolute; top:10px; right:18px; background:#fff; border:1px solid var(--line); border-radius:5px; padding:3px 12px; cursor:pointer; }
@keyframes section-enter { from { opacity:.45; transform:translateY(12px); } to { opacity:1; transform:none; } }
.has-entered { animation:section-enter .55s ease-out both; }
@media(min-width:1200px) {
  .contents-sidebar { display:block; position:fixed; top:125px; left:max(24px,calc((100vw - 1520px)/2)); width:174px; max-height:calc(100dvh - 155px); overflow-y:auto; z-index:20; }
  .site-nav .wrap { width:calc(100% - 64px); max-width:1520px; }
  .desktop-nav { display:none; }
  #main { margin-left:220px; }
  .footer { margin-left:220px; padding-inline:32px; }
}
@media(min-width:1560px) {
  #main { margin-inline:220px; }
  .contents-sidebar { left:calc((100vw - 1100px)/2 - 200px); }
  .footer { margin-inline:220px; padding-inline:max(32px,calc((100% - 1100px)/2 - 220px)); }
}
@media(max-width:900px) {
  .desktop-nav { gap:18px; }
  .grasp-viewport { height:235px; }
  .grasp-row { padding:22px 18px; }
  .grasp-grid { gap:12px; }
}
@media(max-width:700px) {
  html { scroll-padding-top:83px; }
  .wrap { width:calc(100% - 36px); }
  .nav-inner { min-height:60px; }
  .brand { font-size:17px; }
  .desktop-nav { display:none; }
  .mobile-nav { display:block; font-size:12px; }
  .mobile-nav summary { display:flex; align-items:center; gap:14px; cursor:pointer; list-style:none; padding:12px 0 12px 12px; }
  .mobile-nav summary::-webkit-details-marker { display:none; }
  .mobile-nav[open] summary span { transform:rotate(45deg); }
  .mobile-nav nav { position:absolute; top:60px; left:0; right:0; display:grid; background:var(--paper); border-bottom:1px solid var(--line); padding:14px 24px; box-shadow:0 16px 20px -24px #503c28; }
  .mobile-nav nav a { padding:11px 0; }
  .publication-header { padding:45px 0 29px; }
  .title-lead { font-size:clamp(36px,8.6vw,55px); }
  .title-detail { font-size:21px; line-height:1.4; margin-top:16px; }
  .publication-header h1 { margin-bottom:23px; }
  .publication-links { gap:8px; }
  .resource-button { padding:9px 12px; font-size:12px; min-height:41px; }
  .resource-button small { font-size:9px; }
  .resource-explore span { margin-left:0; }
  .teaser { padding-bottom:48px; }
  .teaser .media-slot { aspect-ratio:1.18; }
  .teaser .media-slot.has-video { aspect-ratio:16/9; }
  .teaser-cover { padding:16px 13px 13px; }
  .cover-heading { font-size:12px; gap:8px; }
  .cover-heading small { font-size:9px; }
  .cover-note { font-size:10px; }
  .teaser-preview-grid { gap:5px 8px; margin:10px 0; }
  .teaser-preview-grid figcaption { font-size:10px; }
  .abstract-section { padding:44px 0 47px; }
  .abstract-section .narrow { display:block; }
  .abstract-section h2 { margin-bottom:24px; }
  .abstract-section p { font-size:15px; line-height:1.85; }
  figcaption { text-align:left; }
  h2 { font-size:33px; margin-bottom:26px; }
  .section { padding-top:50px; }
  .paper-figure { margin:25px auto 35px; }
  .paper-figure .figure-link { padding:12px; border-radius:8px; }
  figcaption { font-size:13px; line-height:1.75; margin-top:16px; }
  .results-table-block { margin-bottom:45px; }
  .grasp-gallery h3 { font-size:32px; }
  .gallery-stage { border-radius:13px; }
  .grasp-row { padding:20px 14px; }
  .grasp-grid { gap:9px; }
  .grasp-viewport { height:190px; }
  .grasp-card { border-radius:8px; padding-top:13px; }
  .grasp-card figcaption { font-size:14px; gap:5px; }
  .grasp-card figcaption::before { width:5px; height:5px; }
  .real-videos { grid-template-columns:1fr; }
  .real-section { padding-bottom:48px; }
  .footer { padding:23px 18px; font-size:11px; }
}
@media(max-width:480px) {
  .grasp-grid { display:flex; overflow-x:auto; gap:12px; scroll-snap-type:x mandatory; padding-bottom:7px; }
  .grasp-card { flex:0 0 82%; scroll-snap-align:start; }
  .grasp-card figcaption { font-size:17px; }
  .grasp-viewport { height:235px; }
}
@media(prefers-reduced-motion:reduce) { html { scroll-behavior:auto; } *,*::before,*::after { animation:none!important; transition:none!important; } .grasp-card:hover,.resource-button:hover { transform:none; } }