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#weighting-demo .interactive-heading h3{font-size:23px;margin-bottom:10px}#weighting-demo .control-row{padding:14px 0}#weighting-demo .goal-chain{margin:15px 0}#weighting-demo .goal{padding:10px 5px}#weighting-demo .goal .q{font-size:19px}#weighting-demo .animation-canvas{margin-top:12px}#weighting-svg{max-width:850px;margin:auto}#weighting-demo .anim-toolbar{margin:10px 0 16px}#weighting-demo .demo-answer{min-height:0}#weighting-demo .animation-caption{min-height:45px}.phase-track{margin-top:16px}header{background:#fff}
.pusht-equation{font-size:clamp(17px,2.2vw,26px)}
#pusht .wide-figure{max-width:790px}#pusht .wide-figure:first-of-type{max-width:620px}@media(max-width:850px){#pusht .wide-figure{margin-inline:auto}}
/* Visual-first article layout */
.hero-figure{margin-bottom:32px}.hero .standfirst{margin-bottom:0}
.section>.reading:first-child h2{margin-bottom:0}.section>.wide-figure,.section>.interactive{margin-top:30px}.section>.reading+ .reading{margin-top:22px}
.nav-links{gap:20px}.nav-links a{font-size:12px}
#cite>.reading{max-width:1120px;width:100%;min-width:0}.citation-heading .citation-title{font-size:23px;letter-spacing:.12em;text-transform:uppercase;margin:0}.citation-heading{margin-bottom:20px}.citation-heading>div{min-width:0}#bibtex{width:100%;max-width:100%;min-width:0;white-space:pre-wrap;overflow-wrap:anywhere;margin:0;font-size:14px}
#multi-objective .wide-figure{max-width:790px}#multi-objective .wide-figure:first-of-type{max-width:620px}
.replay-demo{margin:35px -24px 38px;overflow:hidden}.replay-toolbar{max-width:850px;margin:0 auto 18px;display:flex;justify-content:space-between;align-items:center;padding:0 24px}.replay-toolbar .button{font-size:11px;padding:7px 12px}.replay-window{position:relative;overflow:hidden;border-block:1px solid #d6e0ea;padding:18px 0;background:#f0f4f8;mask-image:linear-gradient(90deg,transparent,#000 5%,#000 95%,transparent)}.replay-track{display:flex;width:max-content;animation:replay-scroll 32s linear infinite}.replay-group{display:flex;gap:16px;padding-right:16px}.transition-card{width:180px;flex:none;padding:16px 18px;border:1px solid #b9cbdc;border-radius:6px;background:white;box-shadow:0 3px 8px #233f5810}.transition-card>span{display:block;text-transform:uppercase;letter-spacing:.1em;font-size:9px;color:#728398;margin-bottom:7px}.transition-card b{font:19px Georgia,serif;color:#274d74}.transition-card i{font-size:14px;font-style:normal;color:#8395a9}.replay-selector{position:absolute;left:50%;top:9px;bottom:9px;transform:translateX(-50%);width:196px;border:2px solid #376fa7;border-radius:8px;pointer-events:none;background:#376fa707}.replay-sample{height:80px;position:relative}.replay-sample:before{content:'';position:absolute;height:100%;left:50%;border-left:1px dashed #89aacc}.replay-sample span{position:absolute;top:0;left:50%;transform:translateX(-50%);background:#fff;border:1px solid #376fa7;border-radius:4px;padding:6px 24px;font:17px Georgia,serif;color:#2b5988;animation:replay-sample 4s ease-in-out infinite}.replay-critic{max-width:850px;margin:auto;padding:0 24px;text-align:center}.replay-critic .supervision-arrow{line-height:1;margin:0 0 9px}.replay-critic .supervision-backbone{animation:critic-update 4s ease-in-out infinite}.replay-critic>p{font-size:12px;color:var(--muted)}.replay-paused *{animation-play-state:paused!important}
@keyframes replay-scroll{to{transform:translateX(-50%)}}@keyframes replay-sample{0%,12%{opacity:0;transform:translate(-50%,-12px)}25%{opacity:1}72%{opacity:1;transform:translate(-50%,48px)}85%,100%{opacity:0;transform:translate(-50%,52px)}}@keyframes critic-update{0%,65%,100%{box-shadow:0 0 0 0 #376fa700}80%{box-shadow:0 0 0 6px #376fa722;border-color:#376fa7}}
@media(max-width:850px){.replay-demo{margin-inline:-22px}#multi-objective .wide-figure{margin-inline:auto}.replay-critic{padding-inline:22px}.replay-critic .supervision-branches{gap:8px}.replay-critic .supervision-branches span{font-size:10px}}
@media(max-width:520px){.citation-heading .citation-title{font-size:18px}.citation-heading .button{margin:0;padding:8px 10px;flex-shrink:0}#bibtex{font-size:11px;padding:16px}.replay-toolbar{padding-inline:22px}.replay-critic .supervision-branches>div{font-size:21px}.replay-critic .supervision-branches span{font-size:9px}.replay-critic .supervision-backbone{font-size:14px}.replay-critic>p{font-size:11px}}
@media(prefers-reduced-motion:reduce){.replay-demo *{animation:none!important}.replay-sample span{top:24px}.replay-toolbar button{display:none}}
@media print{.replay-demo{margin-inline:0;break-inside:avoid}.replay-toolbar button{display:none}.replay-demo *{animation:none!important}.replay-window{mask-image:none}.replay-track{transform:translateX(-100px)}.replay-sample span{top:24px}.replay-sample{height:60px}}
.section>.interactive+.reading{margin-top:35px}.section>.reading:empty{display:none}
.rollout-media{max-width:1120px;margin:30px auto 38px}.media-tabs{display:flex;justify-content:center;gap:4px;margin:0 auto 22px;width:fit-content;border:1px solid var(--line);padding:4px;border-radius:7px;background:var(--bg)}.media-tabs button{border:0;border-radius:4px;padding:9px 24px;background:transparent;font-size:14px;color:var(--muted)}.media-tabs button[aria-selected=true]{background:var(--accent);color:white}.rollout-media .wide-figure{margin:0}.rollout-video{max-width:600px;margin:0 auto;border:1px solid var(--line);border-radius:8px;padding:18px;background:white}.rollout-video h3{margin:0 0 14px;font-size:20px}.rollout-video video{width:100%;display:block;aspect-ratio:1;background:#eee;border-radius:4px}.rollout-video figcaption{margin-top:14px}.missing-rollout{font-size:12px;color:var(--muted);max-width:600px;margin:18px auto 0}[hidden]{display:none!important}@media(max-width:520px){.rollout-media .wide-figure{margin:0}.rollout-video{padding:12px}.rollout-video h3{font-size:18px}}@media print{.media-tabs,#videos-panel{display:none!important}#images-panel{display:block!important}.rollout-media{break-inside:avoid}}
/* One transition produces every prediction before the critic update. */
.replay-critic{max-width:1000px}.sample-input{width:fit-content;max-width:100%;margin:20px auto 0;padding:12px 24px;background:#fff;border:1px solid #a5bed6;border-radius:6px;font-size:13px}.sample-input>[data-tex]{display:block;font-size:18px;margin-top:4px}.input-detail{display:block;color:var(--muted);font-size:11px;margin-top:5px}.forward-arrow{color:#376fa7;font-size:25px}.replay-critic .supervision-backbone{animation:none;display:flex;justify-content:center;gap:18px;align-items:center}.prediction-label{font-size:13px;color:#376fa7;margin-top:18px}.prediction-grid{display:grid;grid-template-columns:repeat(4,minmax(0,1fr));gap:16px}.branch-wire{height:32px;width:2px;background:#bacbdd;margin:auto;position:relative;overflow:hidden}.branch-wire span{position:absolute;width:2px;height:16px;top:-16px;background:#276aa9}.predicted-value{border:1px solid #a5bed6;background:#f2f7fc;border-radius:7px;padding:12px 6px;display:flex;align-items:center;flex-direction:column;min-height:155px;transition:box-shadow .3s,border-color .3s}.prediction-kind{font-size:10px;letter-spacing:.04em;color:#577797}.prediction-formula{font-size:20px;margin:5px 0}.prediction-number{font:600 29px 'Space Grotesk',sans-serif;color:#235b8f;opacity:0;transition:opacity .3s}.prediction-goal{font-size:11px;color:#4b5c6b;margin-top:5px}.target-value{margin-top:12px;padding:10px 5px;border:1px solid #d7c7ad;background:#fcf8f1;border-radius:5px;opacity:.18}.target-value>span{display:block;font-size:10px;color:#846234}.target-value b{font-weight:400;display:block;font-size:17px}.prediction-loss{padding:12px 0;font-size:14px;color:#96382f;opacity:.18}.critic-feedback{border:1px solid #e4c2bc;background:#fff5f1;border-radius:6px;padding:10px 16px;display:flex;justify-content:center;align-items:center;gap:16px;flex-wrap:wrap;opacity:.18;font-size:13px}.critic-feedback strong{font-weight:500;font-size:12px;width:100%}.feedback-arrow{font-size:24px;color:#a5332e}.replay-steps{display:grid;grid-template-columns:repeat(4,minmax(0,1fr));gap:7px;margin:20px 0 12px}.replay-steps button{font-size:11px;padding:9px 5px;background:white;border:1px solid var(--line);border-radius:4px;color:var(--muted)}.replay-steps button[aria-pressed=true]{background:#edf3f9;border-color:#376fa7;color:#245789}#replay-explanation{font-size:13px;line-height:1.6;min-height:44px;margin:12px auto}.replay-critic .replay-numbers-note{font-size:10px;max-width:650px;margin:12px auto;color:var(--muted)}.replay-demo:not([data-phase="0"]) .prediction-number{opacity:1}.replay-demo[data-phase="1"] .predicted-value{border-color:#376fa7;box-shadow:0 0 0 3px #376fa718}.replay-demo[data-phase="1"] .branch-wire span{animation:predict-signal 1s linear infinite}.replay-demo[data-phase="2"] .target-value,.replay-demo[data-phase="2"] .prediction-loss,.replay-demo[data-phase="3"] .target-value,.replay-demo[data-phase="3"] .prediction-loss,.replay-demo[data-phase="3"] .critic-feedback{opacity:1}.replay-demo[data-phase="3"] .supervision-backbone{border-color:#a5332e;box-shadow:0 0 0 3px #a5332e16}.replay-demo[data-phase="3"] .feedback-arrow{animation:feedback-pulse 1s ease-in-out infinite}@keyframes predict-signal{to{top:32px}}@keyframes feedback-pulse{50%{transform:translateY(-5px)}}
@media(max-width:600px){.prediction-grid{grid-template-columns:repeat(2,minmax(0,1fr));gap:0 12px}.predicted-value{min-height:140px}.prediction-formula{font-size:18px}.prediction-loss{font-size:12px}.replay-steps{grid-template-columns:repeat(2,minmax(0,1fr))}.replay-critic .supervision-backbone{flex-direction:column;gap:3px}.critic-feedback{gap:8px}#replay-explanation{min-height:85px}.replay-toolbar button{display:block}.prediction-label{font-size:12px}}
@media(prefers-reduced-motion:reduce){.replay-toolbar button{display:block}.prediction-number{transition:none}}
@media print{.prediction-number,.target-value,.prediction-loss,.critic-feedback{opacity:1!important}.replay-steps{display:none}}
.katex{font-size:1.08em}.equation>.katex{max-width:100%;overflow-x:auto;overflow-y:hidden;padding-block:4px}.prediction-formula .katex{font-size:1.08em}.transition-card b .katex{font-size:.95em}.svg-math{display:flex;align-items:center;justify-content:center;height:100%;width:100%;font-size:16px;color:#25252b}.svg-math.small{font-size:10px}.svg-math.gate{font-size:13px}.svg-math .katex{font-size:1em}
.video-speed-label{display:flex;align-items:center;justify-content:flex-end;gap:8px;font-size:12px;color:var(--muted);margin-top:12px}.video-speed-label select{font:inherit;padding:5px 9px;border:1px solid var(--line);border-radius:4px;background:#fff}.prediction-number .katex{font-size:1em}
/* Trace the sampled input through the critic to four simultaneous outputs. */
.replay-track{animation:none!important}.transition-card.sampled-card{border:2px solid #376fa7;background:#edf4fc;box-shadow:0 0 0 3px #376fa715}.replay-toolbar{gap:10px;max-width:1000px}.replay-toolbar .label{margin-right:auto}.replay-critic{position:relative}.critic-flow{position:absolute;inset:0;width:100%;height:100%;pointer-events:none;overflow:visible}.critic-flow>path{fill:none;stroke:#9bb4ce;stroke-width:1.5}.replay-demo[data-phase="0"] .input-flow,.replay-demo[data-phase="1"] .output-flow{stroke:#376fa7;stroke-width:2.2}.sample-input,.supervision-backbone,.predicted-value,.target-value,.prediction-loss,.critic-feedback{position:relative;z-index:1}.sample-input #sample-tuple{display:block;font-size:19px;margin:4px 0}.replay-critic .supervision-backbone{display:flex;flex-direction:column;gap:5px;max-width:510px;min-height:100px;margin:auto;background:#eaf2fa;border:2px solid #6996be}.critic-model-title{font-size:17px;font-weight:600}.critic-model-note{font-size:11px;color:#54718c}.prediction-label{margin-top:25px}.prediction-grid{gap:16px}.branch-wire{height:22px}.loss-value{display:block;font-size:12px;margin-top:3px}.prediction-number{transition:none}.replay-demo[data-phase="0"] .prediction-number{opacity:0}.replay-demo:not([data-phase="0"]) .prediction-number{opacity:1}.replay-demo[data-phase="1"] .predicted-value{animation:prediction-arrival .55s ease-out}.replay-demo[data-phase="3"] .supervision-backbone{animation:critic-update-pulse 1.2s ease-in-out infinite}@keyframes prediction-arrival{from{transform:translateY(-5px);box-shadow:0 0 0 5px #376fa735}to{transform:translateY(0);box-shadow:0 0 0 3px #376fa718}}@keyframes critic-update-pulse{50%{box-shadow:0 0 0 5px #a5332e20}}
@media(max-width:600px){.replay-toolbar{flex-wrap:wrap}.replay-toolbar .label{width:100%}.replay-toolbar .button{flex:1}.replay-critic{padding-inline:27px}.replay-critic .supervision-backbone{max-width:90%}.prediction-grid{gap:6px 12px}.prediction-label{font-size:11px}.prediction-formula{font-size:16px}.sample-input{padding:12px}.critic-model-note{font-size:10px}.prediction-loss{font-size:11px}}
@media(prefers-reduced-motion:reduce){.replay-demo .predicted-value,.replay-demo .supervision-backbone{animation:none!important}.replay-track{transition:none!important}}

.success-gallery{max-width:1120px;margin:30px auto 38px;display:grid;grid-template-columns:repeat(3,minmax(0,1fr));gap:20px}.success-card{margin:0;padding:16px;border:1px solid var(--line);border-radius:8px;background:#fff;min-width:0}.success-card h3{margin:0 0 14px;font-size:20px}.success-card video{display:block;width:100%;height:300px;object-fit:contain;background:#f6f4f1;border-radius:4px}.success-card figcaption{font-size:13px;line-height:1.6;margin:14px 0 10px}.success-card .video-speed-label{font-size:12px}@media(max-width:700px){.success-gallery{grid-template-columns:1fr;max-width:440px}.success-card video{height:320px}}

.steering-gallery{grid-template-columns:repeat(2,minmax(0,1fr));max-width:790px}.policy-gallery:has(>.success-card:only-child){grid-template-columns:1fr;max-width:440px}@media(max-width:700px){.steering-gallery{grid-template-columns:1fr;max-width:440px}}

.results-rollouts{max-width:1120px;margin:24px auto 32px;border:1px solid var(--line);border-radius:8px;background:#fff}.results-rollouts>summary{cursor:pointer;padding:16px 20px;font-size:15px;font-weight:500;color:var(--ink)}.results-rollouts>summary:focus-visible{outline:3px solid #286cbe;outline-offset:3px}.results-rollouts .policy-gallery{margin:0;padding:0 18px 18px;max-width:none}.results-rollouts[open]>summary{margin-bottom:6px}@media(max-width:700px){.results-rollouts .policy-gallery{padding:0 12px 12px}}

#implicit-bellman .bellman-figure{max-width:380px;margin:30px auto}.bellman-figure img{width:100%;height:auto}#implicit-bellman .equation{font-size:clamp(15px,2vw,23px)}

/* Keep temporal order consistent between subgoal cards and critic values. */
#weighting-demo .goal{padding:9px 6px}
#weighting-demo .goal .q{font-size:27px}
#weighting-demo .goal strong{font-size:16px;margin-top:5px}
#weighting-demo .goal .state{font-size:13px;margin-top:5px}
#weighting-demo .goal .weight{font-size:16px;margin-top:4px}
#weighting-svg .svg-title{font-size:19px}
#weighting-svg .svg-small{font-size:12px}
#weighting-svg .svg-math{font-size:22px}
#weighting-svg .svg-math.small{font-size:12px}
#weighting-svg .svg-math.gate{font-size:16px}
@media(max-width:580px){
 #weighting-demo .goal strong{font-size:12px}
 #weighting-demo .goal .state{font-size:11px}
 #weighting-demo .goal .q{font-size:23px}
 #weighting-demo .goal .weight{font-size:14px}
 #weighting-svg .svg-title{font-size:17px}
 #weighting-svg .svg-small{font-size:10px}
 #weighting-svg .svg-math.small{font-size:10px}
}
.replay-demo .predicted-value{min-height:108px;justify-content:center}
.replay-demo .prediction-kind{font-size:12px}
.replay-demo .prediction-goal{font-size:14px}

.hero .affiliations{font-size:13px;line-height:1.5;color:var(--muted);text-align:center;margin:0 0 20px}
.hero .affiliations span{white-space:nowrap}
.hero .affiliations .funding-note{font:inherit;color:inherit;letter-spacing:inherit;white-space:normal}

footer{flex-wrap:wrap}
.gh-icon{width:16px;height:16px;fill:currentColor;flex:none}.button .gh-icon{margin-right:-4px}
/* Human-order layout additions */
.vadar{color:var(--accent);font-weight:600}
.lead-question{font-family:Newsreader,Georgia,serif;font-size:22px;font-style:italic;color:var(--muted);margin:0 0 6px}
.desiderata{margin:0 0 22px;padding-left:22px}.desiderata li{margin-bottom:10px}
.eyebrow a{color:inherit;text-decoration:underline;text-underline-offset:3px}
.subtask-demo{max-width:960px;margin:36px auto 42px;display:grid;grid-template-columns:minmax(0,400px) minmax(0,1fr);gap:32px;align-items:center;background:#fff;border:1px solid #d9ceca;border-radius:10px;padding:26px}
.subtask-video video{width:100%;height:auto;display:block;border-radius:6px;background:#eee}
.subtask-panel .label{margin-bottom:16px}
.subtask-track{position:relative;height:6px;background:var(--line);border-radius:3px;margin:0 0 20px}
.subtask-fill{position:absolute;inset:0 auto 0 0;width:0;background:var(--accent);border-radius:3px}
.subtask-tick{position:absolute;top:-4px;width:2px;height:14px;background:var(--ink);opacity:.35;transform:translateX(-1px)}
.subtask-chips{list-style:none;margin:0;padding:0;display:grid;gap:8px}
.subtask-chips button{width:100%;display:grid;grid-template-columns:30px 1fr auto;align-items:center;gap:12px;text-align:left;background:#fff;border:1px solid var(--line);border-radius:6px;padding:10px 14px;color:var(--muted);transition:background .25s,border-color .25s,color .25s}
.subtask-chips button:hover{border-color:#cfaeaa}
.subtask-index{display:inline-grid;place-items:center;width:26px;height:26px;border-radius:50%;border:1px solid var(--line);font-size:12px;font-weight:600}
.subtask-name{font-size:15px;font-weight:500}
.subtask-status{font-size:11px;letter-spacing:.06em;text-transform:uppercase}
.subtask-chips li.active button{border-color:var(--accent);color:var(--ink);background:var(--soft)}
.subtask-chips li.active .subtask-index{border-color:var(--accent);color:var(--accent)}
.subtask-chips li.done button{color:var(--ink);background:#f3f5f2;border-color:#c9d6c4}
.subtask-chips li.done .subtask-index{background:#4d7a45;border-color:#4d7a45;color:#fff}
.subtask-chips li.done .subtask-status{color:#4d7a45}
.subtask-controls{display:flex;align-items:center;justify-content:space-between;gap:12px;margin-top:18px}
.subtask-controls .video-speed-label{margin-top:0}
.subtask-demo figcaption{grid-column:1/-1;margin:0}
@media(max-width:760px){.subtask-demo{grid-template-columns:1fr;gap:20px;padding:16px}.subtask-video{max-width:420px;margin:auto;width:100%}}
@media(prefers-reduced-motion:reduce){.subtask-chips button{transition:none}}
/* Palatino section headings */
:root{--heading-serif:Palatino,'Palatino Linotype','Book Antiqua','URW Palladio L',Georgia,serif}
main .section h2,main .section h3{font-family:var(--heading-serif);letter-spacing:-.01em;font-weight:400}
.eyebrow{font-family:var(--heading-serif);text-transform:none;letter-spacing:.01em;font-size:17px;font-weight:400;font-style:italic}
.eyebrow{font-size:21px;font-weight:700}
/* Palatino body text */
body{font-family:var(--heading-serif);font-size:18px}
figcaption{font-size:14px}
.bellman-figure{max-width:270px}
body{font-size:19.5px}
figcaption{font-size:15px}
.authors{font-size:20px}.authors sup{font-size:12px}
.paper-closer{margin-top:34px;padding-top:22px;border-top:1px solid var(--line);font-style:italic}
body{font-size:21px}
figcaption{font-size:16px}
@media(max-width:580px){body{font-size:18.5px}figcaption{font-size:14.5px}}
body{font-size:20px}
figcaption{font-size:15.5px}
@media(max-width:580px){body{font-size:18px}figcaption{font-size:14px}}
.results-stats article>div{font-size:34px}
@media(max-width:580px){.results-stats article>div{font-size:24px}}