:root{color-scheme:light;--red:#90283e;--ink:#29292e;--muted:#767078;--line:#eadfe3}*{box-sizing:border-box}html{scroll-behavior:smooth;scroll-padding-top:86px}body{margin:0;color:var(--ink);background:#fff;font:16px/1.65 "Segoe UI",Arial,sans-serif;-webkit-font-smoothing:antialiased}a{color:var(--red);text-decoration:none}a:hover{text-decoration:underline}img{max-width:100%}button{font:inherit;cursor:pointer;color:inherit}button:focus-visible,a:focus-visible,summary:focus-visible{outline:3px solid #ba6681;outline-offset:4px}.wrap{max-width:1240px;padding:0 32px;margin:auto}.nav{height:64px;background:#fffffff5;border-bottom:1px solid #eee7ea;display:flex;align-items:center;justify-content:space-between;padding:0 max(32px,calc((100vw - 1176px)/2));gap:25px;position:sticky;top:0;z-index:15}.brand{display:flex;align-items:center;gap:9px;font-size:20px;font-weight:700;letter-spacing:-.5px}.brand img{object-fit:contain}.nav nav{display:flex;gap:27px;font-size:13px}.nav nav 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img{max-height:730px;max-width:100%;width:auto}.paper-figure figcaption{display:flex;align-items:baseline;gap:13px;font-size:13px;line-height:1.75;color:#69616b;padding:13px 3px 0}.figure-source{font-size:11px;font-weight:650;color:#a54865;flex-shrink:0;white-space:nowrap}.paper-figure figcaption>span{min-width:0}.paper-figure figcaption strong{font-weight:600}.caption-details{font-size:12px;color:#887482;margin-top:5px}.caption-details summary{cursor:pointer}.caption-details p{margin:7px 0 0;color:#756771}.video-grid{display:grid;grid-template-columns:repeat(2,1fr);gap:17px;margin-bottom:35px}.video-grid .video-card figcaption{font-size:12px;padding:10px 13px}.video-grid .video-card img{aspect-ratio:3.45}.video-grid .video-card:last-child:nth-child(odd){grid-column:1/-1;max-width:calc(50% - 9px);width:100%;justify-self:center}.citation-section{max-width:1040px}.citation-section h2{margin-bottom:10px}.release-note{font-size:12px;text-align:center;color:#8b7986;margin:0 0 24px}.citation-box{border:1px solid var(--line);border-radius:8px;background:#faf8fa;overflow:hidden}.citation-box>div:first-child{display:flex;align-items:center;justify-content:space-between;gap:10px;padding:11px 17px;border-bottom:1px solid var(--line);font-size:10px;color:#8b7482;letter-spacing:.5px}.citation-box button{border:1px solid #d8bfcb;background:#fff;font-size:11px;padding:5px 11px;border-radius:5px;color:#8c3c5b}.citation-box pre{font:11px/1.85 Consolas,"Courier New",monospace;color:#6e5765;padding:9px 20px;white-space:pre;overflow:auto}footer{display:flex;align-items:center;justify-content:space-between;gap:25px;font-size:11px;border-top:1px solid var(--line);padding-top:23px!important;padding-bottom:7px!important}footer>span{font-size:10px;color:#9a8493}.design-credit{text-align:center;font-size:10px;color:#998490;margin:13px 18px 24px}.design-credit a{color:#8b5b73}.skip{position:fixed;top:-100px;left:20px;background:var(--red);color:#fff;padding:9px 14px;z-index:100}.skip:focus{top:10px}.sr-only{position:absolute;width:1px;height:1px;margin:-1px;padding:0;overflow:hidden;clip:rect(0,0,0,0);white-space:nowrap;border:0}dialog{padding:0;border:1px solid #c6a1b3;border-radius:10px;width:min(96vw,1550px);max-height:95vh;background:#fff}dialog::backdrop{background:#211020c9}.dialog-bar{display:flex;align-items:center;justify-content:space-between;padding:10px 17px;color:#81394f;font-size:12px;position:sticky;top:0;background:#fff;border-bottom:1px solid #eee3e8}.dialog-bar button{border:0;border-radius:17px;background:var(--red);color:white;padding:5px 12px;font-size:11px}dialog>img{display:block;margin:15px auto;max-width:calc(100% - 30px);height:auto;max-height:none}
@media(max-width:900px){.wrap{padding-left:25px;padding-right:25px}.nav{padding:0 25px}.nav nav{gap:17px;font-size:12px}h1{font-size:28px}.paper-wordmark>span{font-size:52px}.author-list{font-size:13px;gap:4px 15px}.teaser-grid{gap:10px}.teaser-grid .video-card figcaption{font-size:9px}.teaser-grid .video-card img{aspect-ratio:2.8}.figure-panels{padding:14px;gap:10px}h2{font-size:27px}.paper-figure figcaption{font-size:12px}.media-jump{gap:20px;font-size:10px}}
@media(max-width:600px){.wrap{padding-left:18px;padding-right:18px}.nav{height:57px;padding:0 18px}.brand{font-size:17px}.brand img{width:26px;height:31px}.nav nav{display:none}.nav-paper{font-size:11px}.hero{padding-top:23px;padding-bottom:20px}.paper-wordmark{gap:11px;margin-bottom:12px}.paper-wordmark img{width:51px;height:59px}.paper-wordmark>span{font-size:44px;letter-spacing:-1.8px}h1{font-size:23px;line-height:1.3;letter-spacing:-.4px;margin-bottom:20px}.desktop{display:none}.author-list{font-size:12px;line-height:1.8;gap:3px 10px}.author-list sup{font-size:7px}.affiliations{font-size:10px;gap:3px 13px;margin-top:12px}.author-notes{font-size:8px;margin:5px 0 16px}.actions{gap:7px}.button{padding:8px 15px;font-size:12px}.button small{font-size:8px}.gallery-heading{margin-top:25px;font-size:11px}.teaser-grid{grid-template-columns:1fr;gap:12px}.teaser-grid .video-card img{aspect-ratio:3.45}.teaser-grid .video-card figcaption{font-size:10px}.media-jump{gap:7px;flex-wrap:wrap;font-size:9px;margin-top:13px}.abstract-section{padding-bottom:13px}.abstract-section summary{font-size:15px}.abstract-section p{font-size:12px;text-align:left}.section{padding-top:35px;padding-bottom:36px}h2{font-size:23px;margin-bottom:22px;letter-spacing:-.4px}h2>span{font-size:10px;display:block;margin:6px 0 0}.figure-panels{padding:10px;gap:13px}.figure-panels.two{grid-template-columns:1fr}.paper-figure{margin-bottom:27px}.paper-figure figcaption{font-size:11px;line-height:1.8;display:block;padding-top:10px}.figure-source{display:block;font-size:10px;margin-bottom:3px}.caption-details{font-size:10px}.video-grid{grid-template-columns:1fr;gap:14px;margin-bottom:28px}.video-grid .video-card:last-child:nth-child(odd){max-width:none;grid-column:auto}.video-grid .video-card figcaption{font-size:11px;padding:9px 11px}.citation-box pre{font-size:9px;padding:8px 12px}.citation-box>div:first-child{padding:10px 12px;font-size:9px}.release-note{font-size:11px}footer{gap:14px}footer>span{display:none}.design-credit{font-size:9px}.dialog-bar{font-size:11px;padding:9px 12px}}
@media(prefers-reduced-motion:reduce){html{scroll-behavior:auto}*{animation:none!important;transition:none!important}}

/* Paper-led layout, revision 4. */
.paper-wordmark u,.brand u{text-decoration-thickness:.065em;text-underline-offset:.14em}
.institution-logos{display:flex;justify-content:center;align-items:start;gap:48px;margin:24px auto 10px}
.institution-logos>div{display:flex;flex-direction:column;align-items:center;gap:9px;min-width:135px}
.institution-logos img{height:64px;width:90px;object-fit:contain}.institution-logos span{font-size:12px;color:#645864}.institution-logos sup{font-size:9px}
.deployment-highlights{display:grid;grid-template-columns:repeat(3,1fr);max-width:920px;margin:32px auto 0;border:1px solid #ead7df;border-radius:12px;background:#fcf4f6;padding:22px 12px}
.deployment-highlights>div{display:flex;flex-direction:column;gap:5px}.deployment-highlights>div+div{border-left:1px solid #e6cad5}
.deployment-highlights strong{font-size:42px;line-height:1.15;color:var(--red);font-weight:730;letter-spacing:-1.2px}.deployment-highlights strong span{font-size:20px;letter-spacing:0;font-weight:600}.deployment-highlights>div>span{font-size:12px;color:#876978}
.abstract-section{padding-top:35px;padding-bottom:20px}.abstract-section p{font-size:15px;line-height:1.85;color:#625967;max-width:1060px;margin:0 auto;text-align:justify}.abstract-section strong{color:var(--red)}
.hero{padding-bottom:10px}.section h3{font-size:23px;line-height:1.35;letter-spacing:-.4px;text-align:center;margin:43px 0 24px;font-weight:620}
#figure-2 .figure-panels{padding:0;border:0;border-radius:0}#figure-2 img{width:100%;max-height:none;height:auto}
.internal-tables{display:grid;grid-template-columns:1fr 1fr;gap:24px;align-items:start}.internal-tables .paper-figure{margin:0}.internal-tables .figure-panels{padding:14px}
.benchmark-note{font-size:12px;text-align:center;color:#86717f;margin:16px 0 28px}
.section-subheading{display:flex;align-items:center;justify-content:space-between;margin:35px 0 22px;gap:20px}.section-subheading h3{margin:0}
.section-subheading button{font-size:11px;padding:5px 13px;border:1px solid #d9bcc9;border-radius:20px;background:#fff;color:var(--red)}
.video-section,#comparisons,#analysis{scroll-margin-top:90px}.hz-emphasis{color:var(--red);font-size:1.25em}.figure-panels.two>.paper-zoom:last-child:nth-child(odd){grid-column:1/-1;width:calc(50% - 8px);justify-self:center}
@media(max-width:900px){.institution-logos{gap:30px}.deployment-highlights strong{font-size:36px}.nav nav{gap:15px}}
@media(max-width:600px){.institution-logos{gap:12px;margin:22px auto 11px}.institution-logos>div{min-width:0;flex:1;gap:7px}.institution-logos img{height:49px;width:65px}.institution-logos span{font-size:9px}.institution-logos sup{font-size:7px}.deployment-highlights{padding:17px 4px;margin-top:23px}.deployment-highlights strong{font-size:29px;letter-spacing:-.7px}.deployment-highlights strong span{font-size:12px}.deployment-highlights>div>span{font-size:9px;line-height:1.5;padding:0 5px}.abstract-section p{font-size:12px;text-align:left}.section h3{font-size:20px;margin:31px 0 19px}.internal-tables{grid-template-columns:1fr;gap:25px}.benchmark-note{font-size:10px;text-align:left}.section-subheading{gap:10px;align-items:center}.section-subheading h3{font-size:18px;text-align:left;margin:0}.section-subheading button{font-size:9px;white-space:nowrap}.figure-panels.two>.paper-zoom:last-child:nth-child(odd){width:100%;grid-column:auto}}

/* Revision 5: acronym initials, results-first summary, and grouped demonstrations. */
#paper-heading u{text-decoration-thickness:.065em;text-underline-offset:.13em;text-decoration-skip-ink:none}
.contact-line{font-size:12px;color:#897381;margin:9px 0 17px}.contact-line .contact-channel{display:inline-block}.contact-line a,.contact-line .wechat-id{font-weight:550;color:var(--red)}
.deployment-highlights{grid-template-columns:repeat(5,minmax(0,1fr));max-width:none;padding:21px 5px;gap:0;margin-top:30px}
.deployment-highlights>div{padding:0 9px;gap:6px;min-width:0;justify-content:start}.deployment-highlights strong{font-size:34px;white-space:nowrap;letter-spacing:-1px}.deployment-highlights strong span{font-size:15px;letter-spacing:0}
.deployment-highlights>div>.metric-label{font-size:11px;font-weight:650;color:#875366;letter-spacing:.05px;white-space:nowrap;margin-bottom:5px}
.deployment-highlights>div>.metric-unit{font-size:11px;color:#6f5866;line-height:1.4}.deployment-highlights small{font-size:9px;color:#9a7d8c;line-height:1.4}
#figure-3 .figure-panels{padding:0;border:0;border-radius:0}#figure-3 img{width:100%;max-height:none;height:auto}
.demos-heading{display:flex;align-items:center;justify-content:space-between;gap:25px}.demos-heading h2{margin:0}.demos-heading button{font-size:11px;padding:6px 14px;border:1px solid #d9bcc9;border-radius:20px;background:white;color:var(--red)}
#demos .section-subheading{display:block}#demos .section-subheading h3{text-align:center}
@media(max-width:1050px){.deployment-highlights{grid-template-columns:repeat(3,minmax(0,1fr));padding:5px 10px}.deployment-highlights>div{padding:18px 8px}.deployment-highlights>div:nth-child(4){border-left:0}.deployment-highlights>div:nth-child(n+4){border-top:1px solid #e6cad5}.deployment-highlights strong{font-size:32px}}
@media(max-width:600px){.contact-line{font-size:11px}.deployment-highlights{grid-template-columns:repeat(2,minmax(0,1fr));padding:3px 8px;margin-top:24px}.deployment-highlights>div{padding:16px 5px}.deployment-highlights>div+div{border-left:1px solid #e6cad5}.deployment-highlights>div:nth-child(odd){border-left:0}.deployment-highlights>div:nth-child(n+3){border-top:1px solid #e6cad5}.deployment-highlights strong{font-size:31px}.deployment-highlights strong span{font-size:13px}.deployment-highlights>div>.metric-label{font-size:10px}.deployment-highlights>div>.metric-unit{font-size:10px}.deployment-highlights small{font-size:9px}.demos-heading{gap:13px;align-items:center}.demos-heading h2{font-size:22px;text-align:left}.demos-heading button{font-size:9px;white-space:nowrap}}

/* Revision 6: paired real-driving video and corresponding paper image. */
.deployment-highlights small strong{font-size:inherit;font-weight:700;letter-spacing:normal;color:var(--red)}
.real-pairs{display:grid;gap:19px;margin-bottom:35px}.real-row{display:grid;grid-template-columns:minmax(0,1.15fr) minmax(0,1fr);gap:23px;align-items:center;padding:14px 18px;border:1px solid #eadfe3;border-radius:9px;background:#fff}
.real-row .video-card{width:100%;margin:0}.real-row .video-card figcaption{font-size:11px;padding:9px 12px}.real-row .real-scene{margin:0;min-width:0}.real-row .figure-panels{border:0;padding:0;border-radius:0}
.real-row .figure-panels.single img{width:auto;height:auto;max-width:100%;max-height:260px}.real-row .real-scene figcaption{font-size:10px;line-height:1.6;padding-top:9px;gap:9px}.real-row .figure-source{font-size:10px}
@media(max-width:600px){.real-pairs{gap:18px}.real-row{grid-template-columns:1fr;gap:15px;padding:12px}.real-row .figure-panels.single img{max-height:none;width:100%}.real-row .real-scene figcaption{font-size:10px}.real-row .video-card figcaption{font-size:10px}}

/* Five summary cards: three benchmarks, training, and real-vehicle testing. */
@media(min-width:601px) and (max-width:1050px){.deployment-highlights{grid-template-columns:repeat(6,minmax(0,1fr))}.deployment-highlights>div{grid-column:span 2}.deployment-highlights>div:nth-child(n+4){grid-column:span 3}}
@media(max-width:600px){.deployment-highlights>div:last-child{grid-column:1/-1}}

/* Revision 8: manuscript naming footnote and comparison-based figure groups. */
.footnote-ref{font-size:.68em;line-height:0;margin-left:2px}.footnote-ref a{font-weight:600}
.abstract-section .abstract-footnote{font-size:12px;line-height:1.75;text-align:left;color:#87717e;border-top:1px solid var(--line);padding-top:13px;margin-top:18px;scroll-margin-top:100px}.abstract-footnote sup{color:var(--red);margin-right:4px}
.citation-box pre{white-space:pre-wrap;overflow-wrap:break-word}
.qualitative-group{margin-top:42px}.qualitative-group+.qualitative-group{border-top:1px solid var(--line);padding-top:5px}.qualitative-group h3{scroll-margin-top:100px}
@media(max-width:600px){.abstract-section .abstract-footnote{font-size:11px;line-height:1.7}.qualitative-group{margin-top:30px}}

/* Revision 9: every result type is one continuous demo grid with one caption. */
.demo-panels{grid-template-columns:repeat(2,minmax(0,1fr));gap:18px;padding:16px}.demo-panels>.paper-zoom:last-child:nth-child(odd){grid-column:1/-1;max-width:calc(50% - 9px);justify-self:center}
.combined-demos figcaption{display:block;text-align:center;padding:14px 12px 0;font-size:13px;line-height:1.7}
@media(max-width:600px){.demo-panels{grid-template-columns:1fr;gap:16px;padding:10px}.demo-panels>.paper-zoom:last-child:nth-child(odd){grid-column:auto;max-width:none}.combined-demos figcaption{font-size:11px;padding:12px 3px 0}}

/* Revision 10: three branded resource buttons. */
.actions{gap:12px}.actions .resource-button{min-width:146px;min-height:44px;padding:10px 21px;gap:10px;font-weight:600;border-radius:24px;transition:background .15s ease,border-color .15s ease}
.resource-button .resource-icon{width:22px;height:22px;display:block;object-fit:contain;flex-shrink:0}.resource-paper .resource-icon{width:21px;height:27px}.resource-models .resource-icon{width:25px;height:25px}
.actions .resource-paper{background:#fbe7ec;border-color:#efccd5;color:#8e2840}.actions .resource-paper:hover{background:#f6d4de;border-color:#e9b7c6}
.actions .resource-code{background:#e9eef5;border-color:#dce3ed;color:#263348}.actions .resource-code:hover{background:#dae3ee;border-color:#cdd8e6}
.actions .resource-models{background:#fff1bf;border-color:#f2dfa1;color:#644b12}.actions .resource-models:hover{background:#ffe89b;border-color:#ead187}
@media(max-width:600px){.actions{gap:8px}.actions .resource-button{min-width:0;min-height:42px;flex:1;padding:9px 10px;gap:7px;font-size:12px}.resource-paper .resource-icon{width:18px;height:24px}.resource-button .resource-icon{max-width:27px}.resource-code .resource-icon{width:20px;height:20px}.resource-models .resource-icon{width:23px;height:23px}}

/* Revision 11: numbering belongs to the webpage, independently of the paper. */
.figure-number{font-size:11px;font-weight:650;color:#a54865;flex-shrink:0;white-space:nowrap;scroll-margin-top:100px}.paper-figure[id]{scroll-margin-top:100px}
.combined-demos .figure-number{display:inline;margin-right:9px}.real-scene .figure-number{font-size:10px}
@media(max-width:600px){.figure-number{display:block;font-size:10px;margin-bottom:3px}.combined-demos .figure-number{display:inline;margin-bottom:0}}

/* Revision 13: consistent captions, a full-width naming footnote, and PKU in the header. */
.paper-figure figcaption{display:block;text-align:center}
.paper-figure .figure-number{display:inline;margin:0 9px 0 0}
.video-card figcaption{justify-content:center;text-align:center;flex-wrap:wrap}
.abstract-section .abstract-footnote{max-width:none;text-align:center;text-wrap:pretty}
.nav-pku{display:block;width:40px;height:40px;object-fit:contain;flex-shrink:0}
@media(min-width:1100px){.abstract-section .abstract-footnote{font-size:clamp(11px,.95vw,12px);white-space:nowrap;text-wrap:nowrap}}
@media(max-width:600px){.nav-pku{width:35px;height:35px}.abstract-section .abstract-footnote{text-align:left}}

/* Revision 14: paradigm comparison opens Architecture as Figure 1. */
#figure-1 .figure-panels{padding:0;border:0;border-radius:0}#figure-1 img{width:100%;max-height:none;height:auto}

/* Three groups share one row: public benchmarks, training, and deployment. */
.contact-line .wechat-and{color:#897381;font-weight:400}
.hero-highlights{display:grid;grid-template-columns:minmax(0,3.1fr) minmax(0,3.2fr) minmax(0,1.2fr);max-width:820px;margin:22px auto 0;padding:12px 6px;border:1px solid #ead7df;border-radius:9px;background:#fcf4f6;gap:0}
.highlight-group{min-width:0;padding:0 7px}.highlight-group+.highlight-group{border-left:1px solid #e6cad5}
.highlight-group h2{font-size:11px;line-height:1.3;letter-spacing:.3px;font-weight:650;color:#875366;margin:0 0 9px;white-space:nowrap}
.training-duration-note{margin:4px 0 0;text-align:center;font-size:8px;line-height:1.3;color:#875366;white-space:nowrap}
.highlight-metrics{display:grid;grid-template-columns:repeat(3,minmax(0,1fr));gap:4px}.deployment-group .highlight-metrics{grid-template-columns:1fr}
.highlight-metric{display:flex;flex-direction:column;align-items:center;min-width:0;gap:4px}
.highlight-metric .metric-label{font-size:9.5px;color:#826774;line-height:1.3;white-space:nowrap}
.highlight-metric strong{font-size:28px;line-height:1.1;font-weight:730;letter-spacing:-.7px;color:var(--red);white-space:nowrap;font-variant-numeric:tabular-nums}
.highlight-metric strong span{font-size:.48em;font-weight:600;letter-spacing:0}.training-group strong span{font-size:.65em;vertical-align:8%;margin-left:1px}
.highlight-metric .metric-unit{font-size:9.5px;line-height:1.3;color:#6f5866;white-space:nowrap}.highlight-metric small{font-size:8px;line-height:1.3;color:#9a7d8c;white-space:nowrap}.training-group small{color:var(--red);font-weight:650}
@media(max-width:1050px){.hero-highlights{padding:12px 5px}.highlight-group{padding:0 6px}.highlight-metric strong{font-size:clamp(13px,3.2vw,28px)}.highlight-group h2{font-size:clamp(8px,1.25vw,11px);letter-spacing:0}.highlight-metric .metric-label,.highlight-metric .metric-unit{font-size:clamp(7px,1.2vw,9.5px)}.highlight-metric small{font-size:clamp(7px,1vw,8px)}}
@media(max-width:600px){.hero-highlights{grid-template-columns:minmax(0,3.1fr) minmax(0,3.2fr) minmax(0,1.2fr);padding:10px 3px;margin-top:20px}.highlight-group{padding:0 3px}.highlight-group h2{margin-bottom:8px;font-size:clamp(7px,1.9vw,10px)}.highlight-metrics{gap:2px}.highlight-metric{gap:3px}.highlight-metric strong{font-size:clamp(12px,3.4vw,20px);letter-spacing:-.5px}.highlight-metric .metric-label{font-size:clamp(6px,1.7vw,9px);letter-spacing:-.1px}.highlight-metric .metric-unit,.highlight-metric small{font-size:clamp(6px,1.7vw,9px)}.gpu-vendor{display:none}.benchmark-group small,.deployment-group small{display:none}}
@media(max-width:600px){.deployment-group{padding-left:1px;padding-right:1px}}
@media(max-width:1050px){.training-duration-note{font-size:clamp(7px,1vw,8px)}}
@media(max-width:600px){.training-duration-note{margin-top:3px;font-size:clamp(6px,1.7vw,9px)}}