/* Modern CSS Variables for consistent theming */
:root {
  --primary-color: #2563eb;
  --primary-hover: #1d4ed8;
  --secondary-color: #64748b;
  --accent-color: #0ea5e9;
  --text-primary: #1e293b;
  --text-secondary: #64748b;
  --text-light: #94a3b8;
  --background-primary: #ffffff;
  --background-secondary: #f8fafc;
  --background-accent: #f1f5f9;
  --border-color: #e2e8f0;
  --shadow-sm: 0 1px 2px 0 rgb(0 0 0 / 0.05);
  --shadow-md: 0 4px 6px -1px rgb(0 0 0 / 0.1), 0 2px 4px -2px rgb(0 0 0 / 0.1);
  --shadow-lg: 0 10px 15px -3px rgb(0 0 0 / 0.1), 0 4px 6px -4px rgb(0 0 0 / 0.1);
  --shadow-xl: 0 20px 25px -5px rgb(0 0 0 / 0.1), 0 8px 10px -6px rgb(0 0 0 / 0.1);
  --gradient-primary: linear-gradient(135deg, #667eea 0%, #764ba2 100%);
  --gradient-accent: linear-gradient(135deg, #f093fb 0%, #f5576c 100%);
  --gradient-subtle: linear-gradient(135deg, #ffecd2 0%, #fcb69f 100%);
  --border-radius: 12px;
  --border-radius-lg: 16px;
  --transition: all 0.3s cubic-bezier(0.4, 0, 0.2, 1);
}

/* Smooth scrolling for better UX */
html {
  scroll-behavior: smooth;
}

body {
  font-family: 'Inter', 'Segoe UI', -apple-system, BlinkMacSystemFont, sans-serif;
  color: var(--text-primary);
  line-height: 1.6;
  font-size: 16px;
  background-color: var(--background-primary);
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
}

.eyebrow {
  color: var(--primary-color);
  font-size: 0.8rem;
  font-weight: 700;
  letter-spacing: 0.12em;
  margin-bottom: 1rem;
  text-transform: uppercase;
}

.publication-title {
  max-width: 980px;
  margin-left: auto;
  margin-right: auto;
}

.author-list {
  line-height: 1.9;
  margin-left: auto;
  margin-right: auto;
  max-width: 920px;
}

.author-list .author-block {
  margin-right: 0.65rem;
}

.publication-affiliations {
  color: var(--text-secondary);
  font-size: 0.98rem;
  line-height: 1.7;
  margin: 1rem auto 0;
  max-width: 920px;
}

.corresponding-note {
  color: var(--text-primary);
  font-size: 0.9rem;
  margin-top: 0.2rem;
}

.benchmark-section {
  padding-bottom: 2rem;
  padding-top: 2rem;
}

.benchmark-figure {
  margin: 0 auto;
  max-width: 1100px;
  text-align: center;
}

.benchmark-figure img {
  border-radius: var(--border-radius-lg);
  box-shadow: var(--shadow-lg);
  display: block;
  height: auto;
  width: 100%;
}

.benchmark-figure figcaption {
  color: var(--text-secondary);
  font-size: 0.95rem;
  margin-top: 0.85rem;
  text-align: justify;
}

.resource-links {
  margin-top: 2rem;
}

.button.is-disabled {
  cursor: default;
  opacity: 0.58;
  pointer-events: none;
}

.resource-grid {
  display: grid;
  gap: 1rem;
  grid-template-columns: repeat(3, minmax(0, 1fr));
  margin-top: 2rem;
}

.resource-card {
  background: var(--background-secondary);
  border: 1px solid var(--border-color);
  border-radius: var(--border-radius);
  padding: 1.5rem;
  text-align: center;
}

.resource-card .icon {
  color: var(--primary-color);
  font-size: 1.5rem;
  margin-bottom: 0.75rem;
}

.resource-card h3 {
  font-size: 1.1rem;
  font-weight: 700;
  margin-bottom: 0.35rem;
}

.resource-card p {
  color: var(--text-secondary);
  font-size: 0.95rem;
  margin: 0;
}

@media screen and (max-width: 768px) {
  .publication-title { font-size: 2rem !important; }
  .publication-affiliations { font-size: 0.88rem; }
  .resource-grid { grid-template-columns: 1fr; }
}


/* Modern Button Styles */
.button {
  border-radius: var(--border-radius) !important;
  font-weight: 600 !important;
  transition: var(--transition) !important;
  border: 2px solid transparent !important;
  position: relative;
  overflow: hidden;
}

.button.is-dark {
  background: var(--text-primary) !important;
  border: none !important;
  color: white !important;
  box-shadow: var(--shadow-md);
}

.button.is-dark:hover {
  transform: translateY(-2px);
  box-shadow: var(--shadow-lg);
  background: var(--primary-color) !important;
}

.button.is-dark:active {
  transform: translateY(0);
  box-shadow: var(--shadow-md);
}

.footer .icon-link {
    font-size: 25px;
    color: var(--text-secondary);
    transition: var(--transition);
}

.footer .icon-link:hover {
    color: var(--primary-color);
    transform: translateY(-2px);
}

.link-block a {
    margin: 8px 4px;
}

.dnerf {
  font-variant: small-caps;
}


/* Hero Section Modernization */
.hero {
  position: relative;
  overflow: hidden;
}

.hero.is-light {
  background: var(--background-secondary);
  border-top: 1px solid var(--border-color);
  border-bottom: 1px solid var(--border-color);
}

.hero-body {
  padding: 4rem 1.5rem;
}

.teaser .hero-body {
  padding-top: 2rem;
  padding-bottom: 4rem;
}

.teaser {
  font-family: 'Inter', sans-serif;
}


/* Publication Content Styling */
.publication-title {
    font-family: 'Inter', sans-serif !important;
    font-weight: 800 !important;
    color: var(--text-primary) !important;
    margin-bottom: 2rem !important;
    line-height: 1.1 !important;
}

.publication-banner {
  max-height: 70vh;
  border-radius: var(--border-radius-lg);
  overflow: hidden;
  box-shadow: var(--shadow-xl);
  margin: 2rem 0;
}

.publication-banner video {
  position: relative;
  left: auto;
  top: auto;
  transform: none;
  object-fit: cover;
  width: 100%;
  height: 100%;
  border-radius: var(--border-radius-lg);
}

.publication-header .hero-body {
  padding: 6rem 1.5rem 4rem;
}

.publication-authors {
    font-family: 'Inter', sans-serif !important;
    font-weight: 500;
    margin-bottom: 1.5rem;
}

.publication-venue {
    color: var(--text-secondary);
    width: fit-content;
    font-weight: 600;
    background: var(--background-accent);
    padding: 0.5rem 1rem;
    border-radius: var(--border-radius);
    margin-top: 1rem;
    display: inline-block;
}

.publication-awards {
    color: #ef4444;
    width: fit-content;
    font-weight: 700;
    background: linear-gradient(135deg, #fef2f2, #fee2e2);
    padding: 0.5rem 1rem;
    border-radius: var(--border-radius);
    border-left: 4px solid #ef4444;
    margin-top: 1rem;
}

.publication-authors a {
   color: var(--primary-color) !important;
   text-decoration: none;
   font-weight: 600;
   transition: var(--transition);
   position: relative;
}

.publication-authors a::after {
    content: '';
    position: absolute;
    width: 0;
    height: 2px;
    bottom: -2px;
    left: 0;
    background: var(--gradient-accent);
    transition: var(--transition);
}

.publication-authors a:hover::after {
    width: 100%;
}

.publication-authors a:hover {
    color: var(--primary-hover) !important;
}

.author-block {
  display: inline-block;
  margin-right: 0.5rem;
}

.publication-banner img {
  border-radius: var(--border-radius-lg);
  box-shadow: var(--shadow-lg);
  transition: var(--transition);
}

.publication-banner img:hover {
  transform: scale(1.02);
  box-shadow: var(--shadow-xl);
}

/* Modern Video and Carousel Styling */
.publication-video {
    position: relative;
    width: 100%;
    height: 0;
    padding-bottom: 56.25%;
    overflow: hidden;
    border-radius: var(--border-radius-lg) !important;
    box-shadow: var(--shadow-xl);
    transition: var(--transition);
}

.publication-video:hover {
    transform: translateY(-4px);
    box-shadow: var(--shadow-xl);
}

.publication-video iframe {
    position: absolute;
    top: 0;
    left: 0;
    width: 100%;
    height: 100%;
    border-radius: var(--border-radius-lg);
}

.publication-body img {
  border-radius: var(--border-radius);
  box-shadow: var(--shadow-md);
  transition: var(--transition);
}

.publication-body img:hover {
  transform: translateY(-2px);
  box-shadow: var(--shadow-lg);
}

.results-carousel {
  overflow: hidden;
  padding: 1rem 0;
}

.results-carousel .item {
  margin: 1rem;
  overflow: hidden;
  padding: 1.5rem;
  font-size: 0;
  background: var(--background-primary);
  border-radius: var(--border-radius-lg);
  box-shadow: var(--shadow-md);
  transition: var(--transition);
  border: 1px solid var(--border-color);
}

.results-carousel .item:hover {
  transform: translateY(-4px);
  box-shadow: var(--shadow-lg);
}

.results-carousel .item img,
.results-carousel video {
  margin: 0;
  border-radius: var(--border-radius);
  width: 100%;
  height: auto;
}

.results-carousel .subtitle {
  font-size: 1rem !important;
  color: var(--text-secondary);
  margin-top: 1rem;
  font-weight: 500;
}

/* Pagination and Misc Improvements */
.slider-pagination .slider-page {
  background: var(--primary-color);
  border-radius: 50%;
  transition: var(--transition);
}

.slider-pagination .slider-page.is-active {
  background: var(--primary-hover);
  transform: scale(1.2);
}

.eql-cntrb { 
  font-size: 0.875rem;
  color: var(--text-light);
  font-style: italic;
}

/* Section Titles */
.title.is-3 {
  font-family: 'Inter', sans-serif !important;
  font-weight: 700 !important;
  color: var(--text-primary);
  margin-bottom: 2rem !important;
  position: relative;
  padding-bottom: 1rem;
}

.title.is-3::after {
  content: '';
  position: absolute;
  bottom: 0;
  left: 50%;
  transform: translateX(-50%);
  width: 60px;
  height: 3px;
  background: var(--gradient-accent);
  border-radius: 2px;
}

/* Content Improvements */
.content.has-text-justified {
  font-size: 1.1rem;
  line-height: 1.8;
  color: var(--text-secondary);
}

.content.has-text-justified p {
  margin-bottom: 1.5rem;
}

/* Footer Improvements */
.footer {
  background: var(--background-secondary);
  border-top: 1px solid var(--border-color);
  padding: 3rem 1.5rem;
}

.footer .content {
  color: var(--text-secondary);
  line-height: 1.7;
}

.footer a {
  color: var(--primary-color);
  text-decoration: none;
  transition: var(--transition);
}

.footer a:hover {
  color: var(--primary-hover);
  text-decoration: underline;
}

/* BibTeX Styling */
pre {
  background: var(--background-accent) !important;
  border: 1px solid var(--border-color) !important;
  border-radius: var(--border-radius) !important;
  padding: 1.5rem !important;
  font-size: 0.9rem !important;
  overflow-x: auto;
  box-shadow: var(--shadow-sm);
}

code {
  background: var(--background-accent) !important;
  color: var(--text-primary) !important;
  font-family: 'SF Mono', 'Monaco', 'Cascadia Code', 'Roboto Mono', monospace !important;
}

/* BibTeX Section Improvements */
.bibtex-header {
  display: flex;
  justify-content: space-between;
  align-items: center;
  margin-bottom: 1rem;
}

.copy-bibtex-btn {
  background: var(--primary-color);
  color: white;
  border: none;
  border-radius: var(--border-radius);
  padding: 0.75rem 1rem;
  font-size: 0.9rem;
  font-weight: 600;
  cursor: pointer;
  transition: var(--transition);
  display: inline-flex;
  align-items: center;
  gap: 0.5rem;
}

.copy-bibtex-btn:hover {
  background: var(--primary-hover);
  transform: translateY(-2px);
  box-shadow: var(--shadow-md);
}

.copy-bibtex-btn.copied {
  background: #10b981;
}

.copy-bibtex-btn.copied .copy-text::after {
  content: "ied!";
}

/* Scroll to Top Button */
.scroll-to-top {
  position: fixed;
  bottom: 2rem;
  right: 2rem;
  width: 50px;
  height: 50px;
  background: var(--primary-color);
  color: white;
  border: none;
  border-radius: 50%;
  cursor: pointer;
  opacity: 0;
  visibility: hidden;
  transition: var(--transition);
  z-index: 999;
  display: flex;
  align-items: center;
  justify-content: center;
  font-size: 1.2rem;
  box-shadow: var(--shadow-lg);
}

.scroll-to-top:hover {
  background: var(--primary-hover);
  transform: translateY(-3px);
  box-shadow: var(--shadow-xl);
}

.scroll-to-top.visible {
  opacity: 1;
  visibility: visible;
}


/* More Works Dropdown */
.more-works-container {
  position: fixed;
  top: 2rem;
  right: 2rem;
  z-index: 1000;
}

.more-works-btn {
  background: var(--background-primary);
  color: var(--text-primary);
  border: 2px solid var(--border-color);
  border-radius: var(--border-radius-lg);
  padding: 0.75rem 1.25rem;
  font-weight: 600;
  font-size: 0.9rem;
  box-shadow: var(--shadow-md);
  transition: var(--transition);
  cursor: pointer;
  text-decoration: none;
  display: inline-flex;
  align-items: center;
  gap: 0.5rem;
  font-family: 'Inter', sans-serif;
}

.more-works-btn:hover {
  transform: translateY(-2px);
  box-shadow: var(--shadow-lg);
  background: var(--background-secondary);
  border-color: var(--primary-color);
}

.more-works-btn .dropdown-arrow {
  transition: var(--transition);
  font-size: 0.8rem;
}

.more-works-btn.active .dropdown-arrow {
  transform: rotate(180deg);
}

.more-works-dropdown {
  position: absolute;
  top: calc(100% + 0.5rem);
  right: 0;
  width: 400px;
  max-width: 90vw;
  background: var(--background-primary);
  border: 1px solid var(--border-color);
  border-radius: var(--border-radius-lg);
  box-shadow: var(--shadow-xl);
  opacity: 0;
  visibility: hidden;
  transform: translateY(-10px);
  transition: var(--transition);
  max-height: 70vh;
  overflow-y: auto;
}

.more-works-dropdown.show {
  opacity: 1;
  visibility: visible;
  transform: translateY(0);
}

.dropdown-header {
  display: flex;
  justify-content: space-between;
  align-items: center;
  padding: 1.5rem 1.5rem 1rem;
  border-bottom: 1px solid var(--border-color);
}

.dropdown-header h4 {
  margin: 0;
  font-size: 1.1rem;
  font-weight: 700;
  color: var(--text-primary);
}

.close-btn {
  background: none;
  border: none;
  color: var(--text-secondary);
  cursor: pointer;
  padding: 0.5rem;
  border-radius: var(--border-radius);
  transition: var(--transition);
}

.close-btn:hover {
  background: var(--background-accent);
  color: var(--text-primary);
}

.works-list {
  padding: 1rem;
}

.work-item {
  display: flex;
  align-items: flex-start;
  justify-content: space-between;
  padding: 1rem;
  border-radius: var(--border-radius);
  text-decoration: none;
  color: inherit;
  transition: var(--transition);
  margin-bottom: 0.5rem;
}

.work-item:hover {
  background: var(--background-accent);
  transform: translateX(4px);
}

.work-info h5 {
  margin: 0 0 0.5rem 0;
  font-size: 1rem;
  font-weight: 500;
  color: var(--text-primary);
}

.work-info p {
  margin: 0 0 0.5rem 0;
  font-size: 0.9rem;
  color: var(--text-secondary);
  line-height: 1.4;
}

.work-venue {
  font-size: 0.8rem;
  color: var(--text-light);
  font-style: italic;
}

.work-item .fas {
  color: var(--text-light);
  font-size: 0.9rem;
  margin-top: 0.2rem;
  flex-shrink: 0;
}


/* Mobile Responsive Improvements */
@media screen and (max-width: 768px) {
  .hero-body {
    padding: 2rem 1rem;
  }
  
  .publication-header .hero-body {
    padding: 3rem 1rem 2rem;
  }
  
  .publication-title {
    font-size: 2.5rem !important;
    line-height: 1.2 !important;
    margin-bottom: 1.5rem !important;
  }
  
  .publication-authors {
    font-size: 1rem !important;
  }
  
  .button {
    margin: 0.25rem !important;
    font-size: 0.875rem !important;
    padding: 0.75rem 1rem !important;
  }
  
  .more-works-container {
    bottom: 2rem;
    right: 1rem;
    top: auto;
  }
  
  .more-works-btn {
    padding: 0.6rem 1rem;
    font-size: 0.8rem;
  }
  
  .more-works-dropdown {
    width: calc(100vw - 2rem);
    right: -1rem;
    bottom: calc(100% + 0.5rem);
    top: auto;
  }
  
  .results-carousel .item {
    margin: 0.5rem;
    padding: 1rem;
  }
  
  .teaser .hero-body {
    padding: 1rem;
  }
  
  .content.has-text-justified {
    font-size: 1rem;
  }
}

@media screen and (max-width: 480px) {
  .publication-title {
    font-size: 2rem !important;
  }
  
  .hero-body {
    padding: 1.5rem 0.75rem;
  }
  
  .more-works-container {
    position: fixed;
    bottom: 2rem;
    right: 1rem;
    z-index: 1000;
  }
  
  .more-works-btn {
    padding: 0.5rem 0.75rem;
    font-size: 0.75rem;
  }
  
  .more-works-dropdown {
    position: absolute;
    bottom: calc(100% + 0.5rem);
    right: 0;
    width: calc(100vw - 2rem);
    max-width: 90vw;
  }
  
  .link-block {
    display: block;
    margin-bottom: 0.5rem;
  }
  
  .button {
    width: 100%;
    justify-content: center;
  }
}

/* Air-ground title and visual showcase */
.title-brand {
  align-items: center;
  display: flex;
  font-size: 3rem;
  gap: 0.45rem;
  justify-content: center;
  line-height: 1.05;
  position: relative;
  white-space: nowrap;
}

.title-brand img {
  height: 1.42em;
  object-fit: contain;
  width: 1.42em;
  filter: drop-shadow(0 4px 7px rgb(0 0 0 / 0.28));
  position: relative;
  z-index: 1;
}

.title-brand img:first-child {
  animation: uav-flight 6s ease-in-out infinite;
}

.title-brand img:last-child {
  animation: ugv-drive 6s ease-in-out infinite;
  margin-left: 0.2em;
}

.title-rest {
  display: block;
  font-size: 2.15rem;
  line-height: 1.18;
  margin: 0.85rem auto 0;
  max-width: 900px;
}

.publication-header .title-brand span {
  background: linear-gradient(100deg, #0783a8 0%, #17617d 52%, #c8752d 100%);
  -webkit-background-clip: text;
  background-clip: text;
  color: transparent !important;
  font-weight: 800;
  -webkit-text-stroke: 0.35px rgb(255 255 255 / 0.92);
  text-shadow: 0 2px 8px rgb(73 129 145 / 0.18);
}

.showcase-section {
  background: var(--background-secondary);
  border-top: 1px solid var(--border-color);
}

.showcase-heading,
.results-heading {
  margin: 0 auto 1.25rem;
  max-width: 760px;
  text-align: center;
}

.showcase-heading .title,
.results-heading .title {
  position: relative;
  margin-bottom: 0;
  padding-bottom: 0.75rem;
}

.showcase-heading .title::after,
.results-heading .title::after {
  background: var(--gradient-accent);
  border-radius: 2px;
  bottom: 0;
  content: '';
  height: 3px;
  left: 50%;
  position: absolute;
  transform: translateX(-50%);
  width: 60px;
}

.showcase-heading p,
.results-heading p {
  color: var(--text-secondary);
  margin: 0;
}

.section-kicker {
  color: var(--primary-color);
  font-size: 0.78rem;
  font-weight: 700;
  letter-spacing: 0.12em;
  text-transform: uppercase;
}

.demo-panel {
  background: #111827;
  border-radius: var(--border-radius-lg);
  box-shadow: var(--shadow-xl);
  margin: 0 auto 3rem;
  max-width: 960px;
  overflow: hidden;
}

.demo-placeholder {
  align-items: center;
  color: #f8fafc;
  display: flex;
  flex-direction: column;
  justify-content: center;
  min-height: 360px;
  padding: 3rem 1.5rem;
  position: relative;
  text-align: center;
}

.demo-placeholder::before {
  background: linear-gradient(120deg, rgb(35 182 215 / 0.22), transparent 42%), linear-gradient(300deg, rgb(240 154 62 / 0.16), transparent 42%);
  content: '';
  inset: 0;
  position: absolute;
}

.demo-placeholder > * { position: relative; }
.demo-placeholder .fab { color: #ff3d4f; font-size: 3rem; margin-bottom: 1rem; }
.demo-placeholder h3 { font-size: 1.4rem; font-weight: 700; margin-bottom: 0.5rem; }
.demo-placeholder p { color: #cbd5e1; margin-bottom: 1.25rem; }

.results-heading { margin-bottom: 1.25rem; }

.trajectory-carousel {
  margin: 0 auto;
  max-width: 960px;
}

.trajectory-slide {
  display: none;
}

.trajectory-slide.is-active {
  display: block;
  animation: fadeInUp 0.35s ease-out;
}

.trajectory-figure {
  background: var(--background-primary);
  border: 1px solid var(--border-color);
  border-radius: var(--border-radius-lg);
  box-shadow: var(--shadow-md);
  margin: 0;
  overflow: hidden;
}

.trajectory-figure img {
  display: block;
  height: auto;
  max-height: 620px;
  object-fit: contain;
  width: 100%;
}

.trajectory-figure figcaption {
  color: var(--text-secondary);
  font-size: 0.95rem;
  line-height: 1.65;
  padding: 0.75rem 1.25rem 1rem;
  text-align: justify;
}

.trajectory-figure figcaption strong {
  color: var(--text-primary);
  font-size: 1rem;
}

.trajectory-controls {
  align-items: center;
  display: flex;
  justify-content: center;
  gap: 1rem;
  margin-top: 1.25rem;
}

.trajectory-arrow,
.trajectory-dot {
  align-items: center;
  background: var(--background-primary);
  border: 1px solid var(--border-color);
  color: var(--text-secondary);
  cursor: pointer;
  display: inline-flex;
  justify-content: center;
  transition: var(--transition);
}

.trajectory-arrow {
  border-radius: 50%;
  height: 2.25rem;
  width: 2.25rem;
}

.trajectory-arrow:hover,
.trajectory-dot:hover,
.trajectory-dot.is-active {
  background: var(--primary-color);
  border-color: var(--primary-color);
  color: white;
}

.trajectory-dots { display: flex; gap: 0.45rem; }

.trajectory-dot {
  border-radius: 50%;
  height: 0.65rem;
  padding: 0;
  width: 0.65rem;
}

.results-gallery {
  display: grid;
  gap: 1rem;
  grid-template-columns: repeat(2, minmax(0, 1fr));
}

.result-card {
  background: var(--background-primary);
  border: 1px solid var(--border-color);
  border-radius: var(--border-radius);
  box-shadow: var(--shadow-sm);
  margin: 0;
  overflow: hidden;
}

.result-card-wide { grid-column: 1 / -1; }
.result-card img { display: block; height: auto; width: 100%; }
.result-card figcaption { color: var(--text-secondary); font-size: 0.9rem; padding: 0.85rem 1rem 1rem; }

.result-placeholder {
  align-items: center;
  display: flex;
  flex-direction: column;
  justify-content: center;
  min-height: 190px;
  padding: 2rem;
  text-align: center;
}

.result-placeholder .fas { color: var(--primary-color); font-size: 1.5rem; margin-bottom: 0.75rem; }
.result-placeholder h4 { font-size: 1rem; font-weight: 700; margin-bottom: 0.4rem; }
.result-placeholder p { color: var(--text-secondary); font-size: 0.9rem; margin: 0; }

@media screen and (max-width: 768px) {
  .title-brand { font-size: 2.2rem; white-space: normal; }
  .title-brand img { height: 0.9em; width: 0.9em; }
  .title-rest { font-size: 1.45rem; margin-top: 0.65rem; }
  .results-gallery { grid-template-columns: 1fr; }
  .result-card-wide { grid-column: auto; }
  .demo-placeholder { min-height: 280px; }
}

/* Tablet Responsive */
@media screen and (min-width: 769px) and (max-width: 1024px) {
  .hero-body {
    padding: 3rem 2rem;
  }
  
  .publication-header .hero-body {
    padding: 4rem 2rem 3rem;
  }
}

/* Animation for page load */
@keyframes fadeInUp {
  from {
    opacity: 0;
    transform: translateY(30px);
  }
  to {
    opacity: 1;
    transform: translateY(0);
  }
}

.hero, .section {
  animation: fadeInUp 0.6s ease-out;
}

/* Improved focus states for accessibility */
.button:focus,
.related-works-btn:focus,
a:focus {
  outline: 2px solid var(--primary-color);
  outline-offset: 2px;
}


/* Print styles */
@media print {
  .more-works-container {
    display: none;
  }
  
  .hero, .section {
    animation: none;
  }
  
  .button {
    background: transparent !important;
    color: var(--text-primary) !important;
    box-shadow: none !important;
  }
}

/* Compact publication header spacing */
.publication-header .hero-body {
  padding: 3rem 1.5rem 2rem;
}

.publication-title {
  margin-bottom: 1rem !important;
}

.publication-authors {
  margin-bottom: 0.65rem;
}

.publication-affiliations {
  margin-top: 0.4rem;
}

.resource-links {
  margin-top: 1rem;
}

.benchmark-section {
  padding-bottom: 1.25rem;
  padding-top: 1rem;
}

/* AirGroundVLN visual system: aerial cyan, ground amber, deep night-blue. */
:root {
  --primary-color: #0b78a8;
  --primary-hover: #075b82;
  --secondary-color: #587086;
  --accent-color: #f09a3e;
  --text-primary: #142b3d;
  --text-secondary: #5a7080;
  --text-light: #8da0ad;
  --background-primary: #f8fbfd;
  --background-secondary: #edf5f8;
  --background-accent: #e4f0f4;
  --border-color: #d4e2e8;
  --shadow-sm: 0 2px 8px rgb(20 43 61 / 0.05);
  --shadow-md: 0 8px 22px rgb(20 43 61 / 0.09);
  --shadow-lg: 0 16px 36px rgb(20 43 61 / 0.12);
  --shadow-xl: 0 24px 52px rgb(20 43 61 / 0.16);
  --gradient-primary: linear-gradient(135deg, #0b78a8 0%, #123a63 100%);
  --gradient-accent: linear-gradient(90deg, #23b6d7 0%, #f09a3e 100%);
  --gradient-subtle: linear-gradient(135deg, #e6f5f8 0%, #fff3e1 100%);
  --border-radius: 10px;
  --border-radius-lg: 14px;
  --transition: all 0.25s ease;
}

html,
body {
  font-family: 'Manrope', 'Segoe UI', -apple-system, BlinkMacSystemFont, sans-serif;
}

.publication-title,
.publication-authors,
.publication-affiliations,
.content,
.button,
.footer {
  font-family: 'Manrope', 'Segoe UI', -apple-system, BlinkMacSystemFont, sans-serif !important;
}

body {
  background: var(--background-primary);
}

.publication-header {
  background:
    linear-gradient(118deg, rgb(35 182 215 / 0.12), transparent 34%),
    linear-gradient(300deg, rgb(240 154 62 / 0.1), transparent 30%),
    linear-gradient(145deg, #0d2439 0%, #123a57 52%, #0d2b45 100%);
  color: #f5fbfd;
}

.publication-header .publication-title,
.publication-header .publication-title .title-brand,
.publication-header .publication-title .title-rest {
  color: #f7fcff !important;
}

.publication-header .publication-authors { color: #d7e9ef; }
.publication-header .publication-affiliations { color: #a9c3cf; }
.publication-header .corresponding-note { color: #d7e9ef; }

.publication-header .button.is-dark {
  background: rgb(255 255 255 / 0.12) !important;
  border: 1px solid rgb(255 255 255 / 0.3) !important;
  box-shadow: 0 8px 20px rgb(0 0 0 / 0.16);
  color: #f7fcff !important;
}

.publication-header .button.is-dark:hover {
  background: rgb(35 182 215 / 0.3) !important;
  border-color: rgb(35 182 215 / 0.7) !important;
}

.publication-header .button.is-disabled { opacity: 0.86; }

.hero.is-light,
.showcase-section {
  background: var(--background-secondary);
  border-color: var(--border-color);
}

.publication-title,
.title,
.subtitle,
h1, h2, h3, h4 {
  letter-spacing: -0.02em;
}

.title.is-3::after,
.showcase-heading .title::after,
.results-heading .title::after {
  background: var(--gradient-accent);
}

.benchmark-figure img,
.trajectory-figure,
.demo-panel {
  box-shadow: var(--shadow-lg);
}

.benchmark-figure img {
  border: 1px solid rgb(212 226 232 / 0.8);
}

.benchmark-figure figcaption,
.trajectory-figure figcaption {
  color: #526b7b;
}

.abstract-section,
.section.hero.is-light {
  background: linear-gradient(180deg, #edf5f8 0%, #f8fbfd 100%);
}

.content p,
.content li {
  color: #4f6878;
}

.showcase-section {
  background:
    linear-gradient(180deg, #eaf4f7 0%, #f8fbfd 78%);
}

.demo-panel {
  background: linear-gradient(145deg, #0a1c2d 0%, #102e4c 100%);
  border: 1px solid rgb(35 182 215 / 0.25);
}

.demo-placeholder::before {
  background:
    linear-gradient(120deg, rgb(35 182 215 / 0.22), transparent 42%),
    linear-gradient(300deg, rgb(240 154 62 / 0.16), transparent 42%);
}

.demo-placeholder .fab { color: #ff6a5e; }

.trajectory-figure {
  background: #ffffff;
  border-color: #d4e2e8;
}

.trajectory-arrow,
.trajectory-dot {
  background: #ffffff;
  border-color: #c7d9e1;
  color: #557183;
}

.trajectory-arrow:hover,
.trajectory-dot:hover,
.trajectory-dot.is-active {
  background: #0b78a8;
  border-color: #0b78a8;
}

.bibtex-header .title { color: var(--text-primary); }

#bibtex-code,
pre {
  background: #e9f2f5 !important;
  border: 1px solid #d4e2e8;
  color: #274658;
}

.footer {
  background: #102b43;
  color: #b9d0da;
}

.footer a { color: #6bd2e4; }
.footer a:hover { color: #f4b45e; }

/* Light liquid-glass treatment and restrained motion. */
:root {
  --glass-white: rgb(255 255 255 / 0.58);
  --glass-white-strong: rgb(255 255 255 / 0.78);
  --glass-border: rgb(255 255 255 / 0.82);
  --glass-shadow: 0 18px 45px rgb(55 113 135 / 0.13), inset 0 1px 0 rgb(255 255 255 / 0.9);
}

body {
  background:
    linear-gradient(135deg, #f3fbfd 0%, #f8fbff 48%, #fff9f1 100%);
}

.publication-header {
  background:
    linear-gradient(120deg, rgb(112 220 230 / 0.17), transparent 38%),
    linear-gradient(300deg, rgb(249 186 105 / 0.14), transparent 42%),
    linear-gradient(135deg, #eaf8fb 0%, #f5fbfc 52%, #fff8ee 100%);
  border-bottom: 1px solid rgb(160 204 215 / 0.42);
  color: #163c51;
  isolation: isolate;
  overflow: hidden;
}

.publication-header::before {
  background:
    repeating-linear-gradient(90deg, rgb(20 117 145 / 0.07) 0, rgb(20 117 145 / 0.07) 1px, transparent 1px, transparent 76px),
    repeating-linear-gradient(0deg, rgb(20 117 145 / 0.06) 0, rgb(20 117 145 / 0.06) 1px, transparent 1px, transparent 76px);
  content: '';
  inset: 0;
  opacity: 0.55;
  pointer-events: none;
  position: absolute;
  transform: perspective(500px) rotateX(54deg) scale(1.5) translateY(30%);
  transform-origin: center bottom;
  animation: grid-drift 18s linear infinite;
  z-index: -1;
}

.publication-header::after {
  background: linear-gradient(90deg, transparent, rgb(35 182 215 / 0.45), rgb(240 154 62 / 0.35), transparent);
  content: '';
  height: 1px;
  left: 12%;
  opacity: 0.8;
  position: absolute;
  right: 12%;
  top: 22%;
  animation: scan-line 8s ease-in-out infinite;
  z-index: -1;
}

.publication-header .hero-body { position: relative; z-index: 1; }

.publication-header .publication-title,
.publication-header .publication-title .title-brand,
.publication-header .publication-title .title-rest {
  color: #12384e !important;
  text-shadow: 0 2px 18px rgb(255 255 255 / 0.65);
}

.publication-header .publication-authors { color: #315c6d; }
.publication-header .publication-affiliations { color: #557483; }
.publication-header .corresponding-note { color: #315568; }

.publication-header .button.is-dark,
.trajectory-arrow,
.trajectory-dot,
.copy-bibtex-btn {
  background: var(--glass-white-strong) !important;
  backdrop-filter: blur(18px) saturate(145%);
  -webkit-backdrop-filter: blur(18px) saturate(145%);
  border: 1px solid var(--glass-border) !important;
  box-shadow: var(--glass-shadow);
  color: #17485d !important;
}

.publication-header .button.is-dark:hover,
.trajectory-arrow:hover,
.trajectory-dot:hover,
.trajectory-dot.is-active,
.copy-bibtex-btn:hover {
  background: rgb(255 255 255 / 0.94) !important;
  border-color: rgb(35 182 215 / 0.62) !important;
  box-shadow: 0 12px 28px rgb(35 145 170 / 0.19), inset 0 1px 0 #fff;
  color: #076b8c !important;
  transform: translateY(-2px);
}

.publication-header .button.is-disabled { opacity: 0.76; }

.title-brand img {
  animation: icon-hover 4.5s ease-in-out infinite;
}

.title-brand img:last-child { animation-delay: -2.2s; }

.hero.is-light,
.showcase-section {
  background: rgb(246 251 252 / 0.66);
  backdrop-filter: blur(14px);
  -webkit-backdrop-filter: blur(14px);
}

.benchmark-figure img,
.trajectory-figure,
.demo-panel {
  background: var(--glass-white);
  border: 1px solid var(--glass-border);
  box-shadow: var(--glass-shadow);
}

.benchmark-figure img,
.trajectory-figure img { border-radius: var(--border-radius-lg); }

.demo-panel {
  background:
    linear-gradient(120deg, rgb(35 182 215 / 0.16), transparent 48%),
    linear-gradient(300deg, rgb(240 154 62 / 0.12), transparent 52%),
    rgb(255 255 255 / 0.46);
  backdrop-filter: blur(18px) saturate(135%);
  -webkit-backdrop-filter: blur(18px) saturate(135%);
}

.demo-video {
  aspect-ratio: 16 / 9;
  overflow: hidden;
  position: relative;
  width: 100%;
}

.demo-video iframe {
  border: 0;
  display: block;
  height: 100%;
  inset: 0;
  position: absolute;
  width: 100%;
}

.demo-video-fallback {
  display: flex;
  justify-content: center;
  padding: 0.9rem 0 0.15rem;
}

.demo-video-fallback .button {
  background: rgb(255 255 255 / 0.66);
  border: 1px solid rgb(255 255 255 / 0.82);
  box-shadow: 0 8px 22px rgb(34 87 111 / 0.1);
  color: #17677c;
  font-weight: 700;
  transition: transform 180ms ease, box-shadow 180ms ease, background 180ms ease;
}

.demo-video-fallback .button:hover {
  background: rgb(255 255 255 / 0.9);
  box-shadow: 0 12px 28px rgb(34 87 111 / 0.16);
  transform: translateY(-2px);
}

.demo-video-fallback .icon { color: #e55361; }

.demo-placeholder {
  color: #1a475d;
  min-height: 280px;
}

.demo-placeholder::before {
  background:
    linear-gradient(120deg, rgb(35 182 215 / 0.13), transparent 46%),
    linear-gradient(300deg, rgb(240 154 62 / 0.12), transparent 46%);
}

.demo-placeholder .fab { color: #ee685d; }
.demo-placeholder p { color: #547383; }

.demo-placeholder .button.is-dark {
  background: rgb(255 255 255 / 0.62) !important;
  color: #17485d !important;
}

.trajectory-figure figcaption,
.benchmark-figure figcaption { color: #4d6c7a; }

.trajectory-arrow,
.trajectory-dot { transform: none; }

.trajectory-arrow:hover { transform: translateY(-2px); }

.result-card,
.resource-card {
  background: var(--glass-white);
  border-color: var(--glass-border);
  box-shadow: var(--glass-shadow);
}

#bibtex-code,
pre {
  background: rgb(237 247 249 / 0.75) !important;
  backdrop-filter: blur(16px);
  -webkit-backdrop-filter: blur(16px);
  border-color: var(--glass-border);
}

.footer {
  background: rgb(231 244 247 / 0.76);
  border-top: 1px solid rgb(164 204 214 / 0.46);
  color: #567380;
}

.footer a { color: #08789d; }
.footer a:hover { color: #c96f22; }

@keyframes grid-drift {
  from { background-position: 0 0, 0 0; }
  to { background-position: 152px 0, 0 152px; }
}

@keyframes scan-line {
  0%, 100% { opacity: 0.25; transform: translateX(-10%); }
  50% { opacity: 0.8; transform: translateX(10%); }
}

@keyframes icon-hover {
  0%, 100% { transform: translateY(0) rotate(0deg); }
  50% { transform: translateY(-4px) rotate(-2deg); }
}

@keyframes uav-flight {
  0%, 100% { transform: translateX(-9px) translateY(5px) rotate(-4deg); }
  25% { transform: translateX(4px) translateY(-8px) rotate(2deg); }
  50% { transform: translateX(13px) translateY(2px) rotate(4deg); }
  75% { transform: translateX(1px) translateY(9px) rotate(-1deg); }
}

@keyframes ugv-drive {
  0%, 100% { transform: translateX(6px); }
  50% { transform: translateX(18px); }
}

@media (prefers-reduced-motion: reduce) {
  .publication-header::before,
  .publication-header::after,
  .title-brand img,
  .trajectory-slide.is-active { animation: none; }
}

@media screen and (max-width: 768px) {
  .title-brand img {
    height: 1.15em;
    width: 1.15em;
  }
}

/* Final vehicle motion overrides the template's legacy hover animation. */
.title-brand img:first-child {
  animation: uav-flight 6s ease-in-out infinite;
}

.title-brand img:last-child {
  animation: ugv-drive 6s ease-in-out infinite;
  margin-left: 0.2em;
}

@media (prefers-reduced-motion: reduce) {
  .title-brand img:first-child,
  .title-brand img:last-child {
    animation: none;
  }
}