@font-face {
  font-family: "Pretendard Variable";
  font-weight: 45 920;
  font-style: normal;
  font-display: swap;
  src: url("fonts/PretendardVariable.woff2") format("woff2");
}

/* The page frame, title scale, sections and footer use the shared project CSS. */
.idp-study {
  --study-blue: var(--blue);
  --study-ink: var(--ink);
  --study-muted: var(--muted);
  --study-line: var(--line);
}
.study-skip { position:fixed; top:8px; left:16px; transform:translateY(-200%); padding:8px 18px; background:#fff; z-index:100; }
.study-skip:focus { transform:none; }
.idp-study .project-quick-nav a[aria-current="location"] { color:var(--ink); }
.idp-study .project-quick-nav a[aria-current="location"]::after { opacity:1; transform:scaleX(1); }
.idp-study .project-quick-nav a:nth-child(2) { display:block; }
.idp-study figure { margin:0; }
.idp-study img { display:block; width:100%; height:auto; }
.idp-study video { display:block; width:100%; aspect-ratio:16/9; object-fit:contain; background:#f5f5f5; }
.idp-study #context, .idp-study #system, .idp-study #results, .idp-study #submission { scroll-margin-top:24px; }
.study-label { font-family:var(--font-mono); font-size:11px; font-weight:550; letter-spacing:.05em; color:var(--blue); }
.study-video-figure, .study-setup-figure { overflow:hidden; border:1px solid var(--line); border-radius:18px; background:#fff; }
.study-video-figure figcaption, .study-setup-figure figcaption { display:flex; align-items:baseline; justify-content:space-between; flex-wrap:wrap; gap:5px 18px; padding:17px 22px; color:var(--muted); font-size:13px; line-height:1.7; }
.study-video-figure figcaption p { margin:0; }
.study-video-figure figcaption>span, .study-setup-figure figcaption small { font-size:12px; }
.idp-study .study-setup-figure { width:min(100%,1120px); margin-inline:auto; }
.study-setup-figure figcaption strong { color:var(--ink); font-weight:600; }
.study-setup-figure figcaption span { flex:1; }
.study-reference { width:min(100%,1120px); margin:20px auto 0; color:var(--blue); font-size:13px; }
.study-reference a:hover { text-decoration:underline; text-underline-offset:4px; }
.study-reference span { margin-left:8px; }

/* Project-specific architecture: one frame, with the approved ownership overlap. */
.study-runtime { padding:28px 32px 0; border:1px solid var(--line); border-radius:18px; background:#fff; }
.runtime-heading { display:flex; justify-content:space-between; align-items:baseline; gap:20px; margin-bottom:42px; }
.runtime-heading h3 { margin:0; font-size:20px; font-weight:600; letter-spacing:-.03em; }
.runtime-heading>span { color:var(--muted); font-size:12px; }
.idp-map p { margin:0; }
.runtime-feedback { font-size:12px; text-align:center; color:var(--muted); border:1px solid #dce1e9; border-top:0; border-radius:0 0 7px 7px; margin:25px 6% 20px; padding:2px 10px 6px; }
.runtime-feedback span { font-size:17px; vertical-align:-1px; margin-right:5px; }
.study-runtime figcaption { border-top:1px solid var(--line); margin-inline:-32px; padding:17px 24px; font-size:13px; line-height:1.8; color:var(--muted); }
.study-team-note { margin:18px 0 0; color:var(--muted); font-size:13px; line-height:1.8; }
.study-team-note strong { margin-right:10px; color:var(--ink); font-weight:600; }

/* Results are read before the full video. */
.study-evaluation { display:grid; grid-template-columns:1fr 1.15fr; gap:78px; align-items:start; }
.evaluation-intro h3 { font-size:27px; font-weight:590; line-height:1.45; letter-spacing:-.035em; margin:13px 0 0; word-break:keep-all; overflow-wrap:normal; }
.evaluation-intro p { margin:14px 0 0; color:var(--muted); font-size:16px; line-height:1.9; }
.evaluation-intro .evaluation-setup { margin-top:22px; font-size:14px; }
.evaluation-setup strong { display:block; color:var(--ink); font-size:14px; margin-bottom:4px; }
.study-results-table { width:100%; border-collapse:collapse; text-align:left; }
.study-results-table th, .study-results-table td { padding:15px 0; border:0; background:none; }
.study-results-table thead th { border-bottom:1px solid var(--line); font-size:12px; color:var(--muted); font-weight:500; padding-top:0; padding-bottom:11px; }
.study-results-table thead th:last-child { text-align:right; }
.study-results-table tbody th { font-size:16px; font-weight:590; width:78%; padding-right:24px; }
.study-results-table tbody th>span { display:block; color:var(--muted); font-size:12px; font-weight:400; margin-top:3px; }
.study-results-table td { font-family:var(--font-display); font-size:29px; line-height:1; font-weight:550; text-align:right; vertical-align:bottom; padding-bottom:16px; color:var(--muted); }
.study-results-table td>span { font-size:12px; margin-left:2px; font-weight:400; }
.chart-track { height:6px; background:#edf0f5; border-radius:2px; margin-top:11px; overflow:hidden; }
.chart-track i { display:block; height:100%; width:var(--result); background:#a7b1c1; border-radius:2px; }
.result-ours th, .study-results-table .result-ours td { color:var(--blue); }
.result-ours .chart-track i { background:var(--blue); }
.chart-source { font-size:12px; line-height:1.7; color:var(--muted); border-top:1px solid var(--line); padding-top:13px; margin:8px 0 0; }
.idp-study .study-sequence { margin-top:56px; }
.sequence-top { display:flex; align-items:baseline; justify-content:space-between; flex-wrap:wrap; gap:8px 16px; margin-bottom:20px; }
.sequence-top h3 { font-size:20px; font-weight:600; margin:0; letter-spacing:-.03em; }
.sequence-top>span { font-size:12px; color:var(--muted); }
.sequence-grid { display:grid; grid-template-columns:repeat(3,minmax(0,1fr)); gap:20px; }
.sequence-grid img { border:1px solid var(--line); border-radius:12px; }
.sequence-caption { display:grid; grid-template-columns:auto minmax(0,1fr) auto; align-items:baseline; gap:10px; margin-top:14px; }
.sequence-number { font-family:var(--font-mono); font-size:11px; color:var(--blue); }
.sequence-caption h4 { font-size:16px; font-weight:600; letter-spacing:-.015em; margin:0; }
.sequence-caption p { font-size:13px; color:var(--muted); line-height:1.7; margin:4px 0 0; }
.sequence-caption time { font-family:var(--font-mono); font-size:11px; color:var(--muted); }
.study-sequence>figcaption { font-size:12px; color:var(--muted); margin-top:18px; }

/* A single closing section holds the full submission and source material. */
.study-submission { width:min(100%,1120px); margin-inline:auto; }
.submission-chapters { display:flex; align-items:center; flex-wrap:wrap; gap:12px; margin-top:20px; }
.submission-chapters>span { font-size:12px; color:var(--muted); margin-right:6px; }
.submission-chapters button { display:inline-flex; align-items:center; justify-content:center; gap:10px; min-height:46px; padding:10px 15px; border:1px solid var(--line); border-radius:8px; background:#fff; color:var(--ink); font-family:inherit; font-size:14px; font-weight:550; line-height:1.5; cursor:pointer; }
.submission-chapters button:hover { border-color:var(--blue); background:#f4f7ff; }
.submission-chapters button time { font-family:var(--font-mono); font-size:12px; color:var(--blue); }
.submission-chapters button>span { color:var(--blue); }
.submission-comparison-note { font-size:12px; color:var(--muted); line-height:1.8; margin:12px 0 0; }
.study-resources { display:grid; grid-template-columns:1.25fr 1fr; gap:64px; margin-top:52px; padding-top:32px; border-top:1px solid var(--line); }
.study-resources h3 { font-size:24px; font-weight:590; letter-spacing:-.035em; margin:12px 0 0; }
.study-resources p { font-family:var(--font-display); font-size:14px; line-height:1.7; color:var(--muted); margin:9px 0 0; }
.resource-status { display:block; margin-top:16px; font-size:12px; color:var(--blue); }
.resource-links { align-self:center; }
.resource-links a { padding:17px 0; border-bottom:1px solid var(--line); display:flex; align-items:center; justify-content:space-between; font-size:15px; font-weight:550; }
.resource-links a:first-child { border-top:1px solid var(--line); }
.resource-links a:hover { color:var(--blue); }
.resource-links small { font-family:var(--font-mono); font-size:11px; font-weight:400; margin-left:12px; color:var(--muted); }
.resource-links b { font-size:17px; font-weight:400; }
.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; }

/* Overlapping ownership regions share the same grid as the functional blocks. */
.idp-map{display:grid;position:relative;isolation:isolate;grid-template-columns:minmax(0,1fr) 22px minmax(0,1.15fr) 22px minmax(0,1.15fr) 22px minmax(0,1fr);grid-template-rows:auto 30px auto 20px auto;column-gap:8px;margin:3px 0 14px}
.idp-zone{position:relative;z-index:0;pointer-events:none;border:1px solid;border-radius:15px}
.idp-zone>span{position:absolute;top:-12px;left:12px;display:block;padding:3px 10px;border:1px solid;border-radius:20px;font-size:10px;font-weight:600;line-height:1.6;white-space:nowrap}
.idp-zone-owned{grid-column:1/-1;grid-row:3/6;margin:-12px -10px -12px;border-color:#d4a092;background:rgba(231,155,132,.10)}
.idp-zone-owned>span{color:#975a4c;background:#fff8f5;border-color:#e5c4ba}
.idp-zone-team{grid-column:3;grid-row:1/4;margin:-12px -10px -12px;border-color:#9dbbe2;background:rgba(114,157,222,.11)}
.idp-zone-team>span{color:#496f9f;background:#f4f8ff;border-color:#bdd0e9}
.idp-map-card{position:relative;z-index:1;min-width:0;min-height:100px;display:flex;flex-direction:column;align-items:center;justify-content:center;text-align:center;padding:11px 9px;border:1px solid #e4e2e2;border-radius:9px;background:#fff;box-shadow:0 2px 5px rgba(67,44,32,.025)}
.idp-map-card .study-label{font-size:8px;letter-spacing:.02em;color:#626e7e}
.idp-map-card strong{font-size:18px;font-weight:600;line-height:1.5;letter-spacing:-.025em;margin-top:7px}
.idp-map-card p{font-size:11px;line-height:1.6;color:var(--study-muted);margin-top:3px}
.idp-observation{grid-column:1;grid-row:3}
.idp-policy{grid-column:3;grid-row:3;border-color:#c8bcda;background:#fdfbff;box-shadow:0 3px 10px rgba(104,79,137,.065)}
.idp-control{grid-column:5;grid-row:3}
.idp-robot{grid-column:7;grid-row:3}
.idp-lpb{grid-column:3;grid-row:1;min-height:76px;padding:8px 9px;border-color:#c1d4ed;background:#f9fbff}
.idp-sensor{grid-column:5;grid-row:5;min-height:40px;padding:7px 9px;flex-direction:row;gap:8px}
.idp-lpb strong,.idp-sensor strong{font-size:14px;margin-top:4px}
.idp-lpb p,.idp-sensor p{font-size:10px}
.idp-lpb .idp-map-owner,.idp-sensor .idp-map-owner{display:none}
.idp-lpb strong,.idp-sensor strong,.idp-sensor p{margin-top:0}
.idp-map-owner{font-size:9px;line-height:1.6;color:#496f9f}
.idp-sensor .idp-map-owner{color:#a46b5d}
.idp-shared-badge{padding:2px 7px;border:1px solid #d4c7e3;border-radius:20px;background:#f0eaf7;color:#78618d;font-size:9px;font-weight:550;line-height:1.6;white-space:nowrap}
.idp-map-arrow{z-index:2;align-self:center;justify-self:center;line-height:1;font-size:23px;color:#94a0b1}
.idp-observation-edge{grid-column:2;grid-row:3}
.idp-policy-edge{grid-column:4;grid-row:3}
.idp-execution-edge{grid-column:6;grid-row:3}
.idp-guidance-edge{grid-column:3;grid-row:2;color:#7295c1}
.idp-proximity-edge{grid-column:5;grid-row:4}
@media(max-width:1100px){.idp-map{column-gap:7px;grid-template-columns:minmax(0,1fr) 18px minmax(0,1.2fr) 18px minmax(0,1.2fr) 18px minmax(0,1fr)}.idp-map-card strong{font-size:16px}.idp-map-card .study-label{font-size:7px}.idp-lpb strong,.idp-sensor strong{font-size:14px}.idp-map-arrow{font-size:21px}}
@media(max-width:760px){.idp-map{grid-template-columns:minmax(0,1fr) 24px minmax(0,1.1fr);grid-template-rows:auto 44px auto 32px auto 32px auto;column-gap:8px;margin-top:3px}.idp-zone-owned{grid-column:1/-1;grid-row:3/8;margin-inline:-10px}.idp-zone-team{grid-column:3;grid-row:1/4;margin-inline:-10px}.idp-zone>span{font-size:9px;padding:3px 8px;left:8px}.idp-map-card{min-height:104px;padding:13px 8px}.idp-map-card strong{font-size:16px}.idp-map-card p{font-size:10px}.idp-map-card .study-label{font-size:7px}.idp-lpb{grid-column:3;grid-row:1;min-height:96px}.idp-observation{grid-column:1;grid-row:3}.idp-policy{grid-column:3;grid-row:3}.idp-control{grid-column:3;grid-row:5}.idp-robot{grid-column:3;grid-row:7}.idp-sensor{grid-column:1;grid-row:5}.idp-lpb strong,.idp-sensor strong{font-size:13px}.idp-lpb p,.idp-sensor p{font-size:9px}.idp-map-owner{font-size:8px}.idp-shared-badge{font-size:8px;padding:2px 5px}.idp-observation-edge{grid-column:2;grid-row:3}.idp-policy-edge{grid-column:3;grid-row:4;transform:rotate(90deg)}.idp-execution-edge{grid-column:3;grid-row:6;transform:rotate(90deg)}.idp-guidance-edge{grid-column:3;grid-row:2}.idp-proximity-edge{grid-column:2;grid-row:5;transform:rotate(90deg)}}
@media(max-width:390px){.idp-map-card strong{font-size:14px}.idp-lpb strong,.idp-sensor strong{font-size:12px}.idp-shared-badge{font-size:7px}.idp-map-arrow{font-size:20px}}
@media(min-width:761px) and (max-width:900px){.runtime-heading{flex-direction:row;align-items:center;gap:16px}.runtime-heading h3{font-size:19px}.runtime-legend{max-width:240px;justify-content:flex-end;gap:5px 12px}}
@media(max-width:760px){.study-runtime{padding-top:18px}.runtime-heading{gap:9px;margin-bottom:12px}.runtime-owned-label{padding-bottom:30px}.runtime-feedback{margin-top:21px;margin-bottom:12px}.study-runtime figcaption{padding-block:10px}.idp-map{grid-template-rows:auto 30px auto 26px auto 24px auto}.idp-map-card{min-height:94px;padding-block:10px}.idp-lpb{min-height:76px;padding-block:8px}.idp-sensor{flex-direction:column;gap:4px}.idp-robot{grid-column:1/-1;min-height:64px;flex-direction:row;gap:12px;padding:10px 12px}.idp-robot .study-label{font-size:7px}.idp-robot strong,.idp-robot p{margin-top:0}}


/* Improve diagram legibility while preserving the overlapping grid geometry. */
.idp-map-card .study-label { font-size:9px; letter-spacing:0; }
@media (max-width:1100px) {
  .study-evaluation { gap:40px; }
  .sequence-grid { gap:14px; }
  .sequence-caption { gap:7px; }
  .sequence-caption time { grid-column:2; }
}
@media (max-width:800px) {
  .idp-study .sensor-hero .project-overview { grid-template-columns:1fr; }
  .idp-study .sensor-hero h1 { overflow-wrap:normal; }
  .study-evaluation { grid-template-columns:1fr; gap:30px; }
  .evaluation-intro h3 { font-size:24px; }
  .evaluation-intro h3 br { display:initial; }
  .evaluation-intro p { font-size:15px; }
  .study-resources { grid-template-columns:1fr; gap:28px; }
  .sequence-grid { grid-template-columns:1fr; gap:28px; }
  .sequence-caption time { grid-column:auto; }
  .study-video-figure figcaption, .study-setup-figure figcaption { padding:14px 18px; }
  .study-setup-figure figcaption span { flex-basis:100%; }
  .study-reference { font-size:12px; }
}
@media (max-width:760px) {
  .study-runtime { padding:24px 18px 0; }
  .runtime-heading { align-items:flex-start; flex-direction:column; gap:5px; margin-bottom:38px; }
  .runtime-heading h3 { font-size:18px; }
  .runtime-feedback { margin:26px 0 16px; font-size:12px; }
  .study-runtime figcaption { margin-inline:-18px; padding:14px 16px; font-size:13px; }
  .idp-map-card .study-label { font-size:10px; }
  .idp-map-card p, .idp-lpb p, .idp-sensor p { font-size:12px; color:#596374; word-break:keep-all; }
  .idp-shared-badge { font-size:11px; padding-inline:7px; color:#634c79; }
  .idp-zone>span { font-size:12px; }
  .study-team-note { font-size:13px; }
  .study-results-table tbody th { font-size:14px; padding-right:12px; }
  .submission-chapters>span { width:100%; }
  .submission-chapters button { justify-content:flex-start; font-size:13px; }
  .desktop-break { display:none; }
}
@media (max-width:560px) {
  .submission-chapters button { width:100%; }
  .submission-chapters button>span { margin-left:auto; }
  .study-video-figure figcaption { flex-direction:column; gap:4px; }
}
@media (prefers-reduced-motion:reduce) { html { scroll-behavior:auto; } }