@import url("static/fontawesome/css/fontawesome.css");
@import url("static/fontawesome/css/brands.css");
@import url("static/fontawesome/css/light.css");

@font-face {
    font-family: 'Source Sans 3';
    src: url('static/fonts/Source_Sans_3/SourceSans3-VariableFont_wght.ttf') format('truetype-variations'),
         url('static/fonts/Source_Sans_3/SourceSans3-VariableFont_wght.ttf') format('truetype');
    font-weight: 100 900;
    font-style: normal;
}
@font-face {
    font-family: 'Source Serif 4';
    src: url('static/fonts/Source_Serif_4/SourceSerif4-VariableFont_opsz,wght.ttf') format('truetype-variations'),
         url('static/fonts/Source_Serif_4/SourceSerif4-VariableFont_opsz,wght.ttf') format('truetype');
    font-weight: 100 900;
    font-style: normal;
}
@font-face {
    font-family: 'Source Serif 4';
    src: url('static/fonts/Source_Serif_4/SourceSerif4-Italic-VariableFont_opsz,wght.ttf') format('truetype-variations'),
         url('static/fonts/Source_Serif_4/SourceSerif4-Italic-VariableFont_opsz,wght.ttf') format('truetype');
    font-weight: 100 900;
    font-style: italic;
}

* {
    margin: 0px;
    padding: 0px;
}

:root {
    --page-max: 1100px;
    --page-pad: clamp(24px, 6vw, 56px);
    --content-w-base: min(calc(var(--page-max) - 2 * var(--page-pad)), calc(100% - 2 * var(--page-pad)));
    --content-w: calc(1.1 * var(--content-w-base) - 10%);
    --abstract-w: calc(0.8 * var(--content-w) - 4.8px);
}

@media screen and (max-width: 768px) {
    :root { --abstract-w: var(--content-w); }
}

body {
    background: rgba(255, 255, 255);
    font-family: "Google Sans", sans-serif;
    font-size: 16px;
    font-weight: 400;
    line-height: 1.5;
    color: #4a4a4a;
}

/* Custom styles to create a full-page image */
body, html {
    height: 100%;
    margin: 0;
    padding: 0;
    -webkit-font-smoothing: antialiased;
    -moz-osx-font-smoothing: grayscale;
    text-rendering: optimizeLegibility;
}

.full-page-image {
    background-image: url('../img/full_screen.png');
    background-size: cover;
    background-position: center;
    height: 100%;
    width: 100%;
    position: relative;
}

.overlay {
    /* Add a semi-transparent overlay to the image if needed */
    background-color: rgba(0, 0, 0, 0.2);
    position: absolute;
    top: 0;
    bottom: 0;
    left: 0;
    right: 0;
    z-index: 1;
}

.content {
    /* Center your content vertically and horizontally */
    position: absolute;
    bottom: 0;
    /* right: 25; */
    /* transform: translate(-50%, -50%); */
    z-index: 2;
    color: #fff; /* Set the color for your content */
    background-color: rgba(0, 0, 0, 0.4);
}

.banner-state {
    height: 350px; /* or whatever height you want for the banner */
    transition: height 1s ease;
}

.no-content .content {
    opacity: 0;
    transition: opacity 1s ease;
}

#bg-video {
    position: absolute;
    top: 0;
    left: 0;
    width: 100%;
    height: 100%;
    object-fit: cover;
    opacity: 0;
    transition: opacity 1.0s ease;
}

#title_slide {
    display: flex;
    flex-wrap: nowrap;
    margin-bottom: 2vw;
}

.title_left {
    padding-top: 48px;
    filter: none;
}

.title_right {
    padding-top: 8.5vw;
    padding-left: 10vw;
    padding-right: 3vw;
}

.title_right > img {
    max-width: 62.5vw;
    max-height: 62.5vh;
}

.title_right > p {
    color: #2E2D29;
    font-family: "Google Sans", sans-serif;
    font-weight: normal;
    text-align: center;
    font-size: 0.65vw;
}

.title_left > h1 {
    color: #000000;
    font-family: "Google Sans", sans-serif;
    font-weight: 600;
    font-size: clamp(28px, 3.2vw, 42px);
    line-height: 1.15;
    display: block;
    max-width: calc(var(--page-max) - 2 * var(--page-pad));
    margin: 0 auto 0.55em;
    text-align: center;
}

#abstract {
    mix-blend-mode: normal;
    color: #4a4a4a;
    font-family: "Google Sans", sans-serif;
    font-weight: 400;
    font-size: 1rem;
    line-height: 1.5;
    text-align: justify;
    width: var(--abstract-w);
    padding-top: 1.5rem;
    margin-left: auto;
    margin-right: auto;
}

#abstract h1 {
    color: #363636;
    font-size: 2rem;
    line-height: 1.125;
    font-weight: 600;
    text-align: center;
    margin-bottom: 24px;
}


.author-container {
    color: #4a4a4a;
    font-family: "Google Sans", sans-serif;
    font-weight: 400;
    font-size: 1rem;
    padding-top: 0;
    justify-items: center;
    justify-content: center;
    display: grid;
    grid-template-columns: auto auto auto auto auto auto;
}

.author-name {
    text-align: center;
    padding-right: 0.8em;
    padding-left: 0.8em;
    color: #4a4a4a;
}

.contribution {
    color: rgba(0, 0, 0, 0.5);
    font-family: "Google Sans", sans-serif;
    font-weight: normal;
    font-size: 0.67vw;
    padding-top: 1.0vw;
    text-align: center;
}

.affiliation {
    color: #2E2D29;
    font-family: "Google Sans", sans-serif;
    font-weight: normal;
    font-size: 1vw;
    padding-top: 1.0vw;
    text-align: center;
}

.venue {
    color: #2E2D29;
    font-family: "Google Sans", sans-serif;
    font-weight: 400;
    font-size: 1rem;
    padding-top: 0.2em;
    padding-bottom: 0;
    text-align: center;
}


.button-container {
    color: #53565A;
    display: flex;
    justify-content: center;
    gap: 0.8em;
    padding-top: 0.5em;
}

.button {
    color: #53565A;
    font-family: "Google Sans", sans-serif;
    display: inline-flex;
    align-items: center;
    justify-content: center;
    padding: 0.55em 1.05em;
    border-radius: 0.5em;
    font-size: 1.1em;
    line-height: 1;
    white-space: nowrap;
    border: 0;
    background-color: #f2f2f2;
}

.button:hover {
    background-color: #f2f2f2;
    filter: brightness(97%);
}

* {
    box-sizing: border-box
}

/* Slideshow container */
.slideshow-container {
    position: relative;
    margin: auto;
    padding-top: 10px;
    width: var(--content-w);
}

/* Hide the images by default */
.mySlides {
    display: none;
}

.mySlides > video {
    border-radius: 0.5vw;
}

/* Next & previous buttons */
.prev, .next {
    cursor: pointer;
    position: absolute;
    top: 50%;
    width: auto;
    margin-top: -22px;
    padding: 16px;
    color: white;
    font-weight: bold;
    font-size: 18px;
    transition: 0.6s ease;
    border-radius: 0 3px 3px 0;
    user-select: none;
}

/* Position the "next button" to the right */
.next {
    right: 0;
    border-radius: 3px 0 0 3px;
}

/* On hover, add a black background color with a little bit see-through */
.prev:hover, .next:hover {
    background-color: rgba(0, 0, 0, 0.8);
}

/* Caption text */
.text {
    color: #f2f2f2;
    font-size: 15px;
    padding: 8px 12px;
    position: absolute;
    bottom: 8px;
    width: 100%;
    text-align: center;
    background-color: rgba(0, 0, 0, 0.4);
}

/* Number text (1/3 etc) */
.numbertext {
    color: #f2f2f2;
    font-size: 12px;
    padding: 8px 12px;
    position: absolute;
    top: 0;
}

/* The dots/bullets/indicators */
.dot {
    cursor: pointer;
    height: 15px;
    width: 15px;
    margin: 0 2px;
    background-color: #bbb;
    border-radius: 50%;
    display: inline-block;
    transition: background-color 0.6s ease;
}

.active, .dot:hover {
    background-color: #717171;
}

/* Fading animation */
.fade {
    animation-name: fade;
    animation-duration: 1.5s;
}

@keyframes fade {
    from {
        opacity: .4
    }
    to {
        opacity: 1
    }
}

.date {
    color: #FFFFFF;
    font-family: "Google Sans", sans-serif;
    font-weight: normal;
    font-size: 0.93vw;
    padding-top: 18vh;
    padding-left: 2.8vw;
}

a, a:hover, a:focus, a:active {
    text-decoration: none;
    color: inherit;
}

/* https://html-online.com/articles/gradient-background-buttons-css-html/ */
.gradient-button {
    text-align: center;
    background-size: 200% auto;
    transition: all 0.3s cubic-bezier(.25, .8, .25, 1);
    cursor: pointer;
    text-decoration: none;
}

.gradient-button:hover {
    background-position: right center;
}

/* https://codepen.io/postor/pen/vYpNYg */
.arrows {
    width: 60px;
    height: 72px;
    position: relative;
    left: 50%;
    margin-left: -30px;
    bottom: 90px;
}

.arrows path {
    stroke: #f8f8f8;
    fill: transparent;
    stroke-width: 0.06vw;
    animation: arrow 6s infinite;
    -webkit-animation: arrow 6s infinite;
}

@keyframes arrow {
    0% {
        opacity: 0
    }
    40% {
        opacity: 1
    }
    80% {
        opacity: 0
    }
    100% {
        opacity: 0
    }
}

@-webkit-keyframes arrow /*Safari and Chrome*/
{
    0% {
        opacity: 0
    }
    40% {
        opacity: 1
    }
    80% {
        opacity: 0
    }
    100% {
        opacity: 0
    }
}

.arrows path.a1 {
    animation-delay: -1s;
    -webkit-animation-delay: -1s; /* Safari 和 Chrome */
}

.arrows path.a2 {
    animation-delay: -0.5s;
    -webkit-animation-delay: -0.5s; /* Safari 和 Chrome */
}

.arrows path.a3 {
    animation-delay: 0s;
    -webkit-animation-delay: 0s; /* Safari 和 Chrome */
}

#overview {
    padding-top: 0;
}

hr.rounded {
    background: #cbcbcb;
    border-radius: 15px;
    height: 2px;
    width: var(--content-w);
    margin: 24px auto;
    mix-blend-mode: normal;
    border: none;
}

#overview h1 {
    color: #363636;
    font-family: "Google Sans", sans-serif;
    font-weight: 600;
    font-size: 2rem;
    line-height: 1.125;
    width: var(--content-w);
    margin: 0 auto 24px;
}

#overview p {
    color: #4a4a4a;
    font-family: "Google Sans", sans-serif;
    font-weight: 400;
    font-size: 1rem;
    line-height: 1.5;
    text-align: justify;
    width: var(--content-w);
    margin: 0 auto 16px;
    -webkit-font-smoothing: antialiased;
}

#overview summary {
    padding-top: 1rem;
    color: #4a4a4a;
    font-family: "Google Sans", sans-serif;
    font-weight: normal;
    font-size: 1rem;
    line-height: 1.5;
    width: var(--content-w);
    margin-left: auto;
    margin-right: auto;
    word-wrap: break-word;
    hyphens: auto;
    -webkit-font-smoothing: antialiased;
}

#overview > .final_paragraph {
    padding-bottom: 3vw;
}

#overview > video {
    max-width: var(--content-w);
    max-height: 45%;
    display: block;
    margin-left: auto;
    margin-right: auto;
}


#overview > .video_container {
    max-width: var(--content-w);
    max-height: 45%;
    margin-left: auto;
    margin-right: auto;
}

#overview > .video_container > video {
    max-width: 100%;
    max-height: 100%;
    display: block;
}

#overview > .video_container > img {
    margin-top: 1vw;
    max-width: 100%;
    max-height: 100%;
}

#overview > .video_container > .caption {
    margin-top: -1vw;
    max-width: 100%;
    max-height: 100%;
    position: relative;
}

#overview > .video_container > .caption > p {
    width: 100% !important;
    color: #53565A !important;
    font-family: "Google Sans", sans-serif;
    font-size: 0.7vw !important;
    font-weight: 500 !important;
}

#overview > .image_container {
    max-width: var(--content-w);
    max-height: 45%;
    margin-left: auto;
    margin-right: auto;
}

#overview > .image_container > img {
    max-width: 100%;
    max-height: 100%;
    margin: auto;
    margin-top: 1.5vw;
    display: block;
}

#overview > .image_container > .caption {
    margin-top: 0vw;
    max-width: 100%;
    max-height: 100%;
    position: relative;
}

#overview > .image_container > .caption > p {
    width: 100% !important;
    color: #53565A !important;
    font-family: "Google Sans", sans-serif;
    font-size: 0.7vw !important;
    font-weight: 500 !important;
}

.teaser {
    margin-left: auto;
    margin-right: auto;
    display: flex;
    justify-content: center;

}

.teaser > .video_container {
    max-width: 40%;
}

.teaser > .video_container > video {
    max-width: 100%;
    max-height: 100%;
    display: block;
    border-radius: 0.5vw;
}

.approach {
    margin-left: auto;
    margin-right: auto;
    display: flex;
    justify-content: center;
}

.approach > .video_container {
    max-width: var(--content-w);
    border-radius: 0.5vw;
}

.approach > .video_container > video {
    max-width: 100%;
    max-height: 100%;
    border-radius: 0.5vw;
}

.approach > .video_container > img {
    max-width: 100%;
    max-height: 100%;
    border-radius: 0.5vw;
}

.approach > .video_container > .caption {
    margin-top: -1vw;
    max-width: 100%;
    max-height: 100%;
    position: relative;
}

.approach > .video_container > .caption > p {
    width: 100% !important;
    color: #53565A !important;
    font-family: "Google Sans", sans-serif;
    font-size: 0.7vw !important;
    font-weight: 500 !important;
}

.xarm {
    margin-top: 1.0vw;
    margin-bottom: 1.0vw;
    margin-left: auto;
    margin-right: auto;
    display: flex;
    justify-content: center;
}

.xarm > video {
    max-width: 11%;
    max-height: 22%;
    margin-left: 0.2vw;
    margin-right: 0.2vw;
    border-radius: 0.5vw;
}

.allegroreachtop {
    margin-top: 1.0vw;
    margin-bottom: 0.4vw;
    margin-left: auto;
    margin-right: auto;
    display: flex;
    justify-content: center;
}

.allegroreachtop > video {
    max-width: 11%;
    max-height: 22%;
    margin-left: 0.2vw;
    margin-right: 0.2vw;
    border-radius: 0.5vw;
}

.allegroreachmid {
    margin-top: 0.4vw;
    margin-bottom: 0.4vw;
    margin-left: auto;
    margin-right: auto;
    display: flex;
    justify-content: center;
}

.allegroreachmid > video {
    max-width: 11%;
    max-height: 22%;
    margin-left: 0.2vw;
    margin-right: 0.2vw;
    border-radius: 0.5vw;
}

.allegroreachbot {
    margin-top: 0.4vw;
    margin-bottom: 1.0vw;
    margin-left: auto;
    margin-right: auto;
    display: flex;
    justify-content: center;
}

.allegroreachbot > .video_container {
    max-width: 11%;
    max-height: 22%;
    margin-left: 0.2vw;
    margin-right: 0.2vw;
}

.allegroreachbot > .video_container > video {
    max-width: 100%;
    max-height: 100%;
    border-radius: 0.5vw;
}

.allegroreachbot > .video_container > .caption {
    margin-top: -1vw;
    max-width: 100%;
    max-height: 100%;
    position: relative;
}

.allegroreachbot > .video_container > .caption > p {
    width: 400% !important;
    color: #53565A !important;
    font-family: "Google Sans", sans-serif;
    font-size: 0.7vw !important;
    font-weight: 500 !important;
}


.allegroupper {
    margin-top: 1.0vw;
    margin-bottom: 0.4vw;
    margin-left: auto;
    margin-right: auto;
    display: flex;
    justify-content: center;
}

.allegroupper > video {
    max-width: 15%;
    max-height: 15%;
    margin-left: 0.2vw;
    margin-right: 0.2vw;
    border-radius: 0.5vw;
}


.allegrolower {
    margin-top: 0.4vw;
    margin-bottom: 1.0vw;
    margin-left: auto;
    margin-right: auto;
    display: flex;
    justify-content: center;
}


.allegrolower > .video_container {
    max-width: 15%;
    max-height: 15%;
    margin-left: 0.2vw;
    margin-right: 0.2vw;
    display:flex;
    flex-direction:column;
    align-items:center;
}

.allegrolower > .video_container > .col {
    flex: 1;
    max-width: 100%;
    margin-left: 0.2vw;
    margin-right: 0.2vw;
    text-align: center;
    font-family: "Google Sans", sans-serif;
}

.allegrolower > .video_container > video {
    /* max-width: 100%; */
    width:100%;
    height:auto;
    /* max-height: 100%; */
    border-radius: 0.5vw;
}

.allegrolower > .video_container > .caption {
    margin-top: -1vw;
    max-width: 100%;
    max-height: 100%;
    position: relative;
}

.allegrolower > .video_container > .caption > p {
    width: 300% !important;
    color: #53565A !important;
    font-family: "Google Sans", sans-serif;
    font-size: 0.7vw !important;
    font-weight: 500 !important;
}

.barplot {
    margin-top: 1.0vw;
    margin-bottom: 0.0vw;
    margin-left: auto;
    margin-right: auto;
    display: flex;
    justify-content: center;
}

.barplot > .image_container {
    max-width: 44%;
    max-height: 22%;
    margin-top: auto;
    margin-bottom: auto;
}

.barplot > .image_container > img {
    max-width: 100%;
    max-height: 100%;
}

.barplot > .image_container > .caption {
    margin-left: 0.7vw;
    margin-bottom: 1.0vw;
    max-width: 100%;
    max-height: 100%;
    position: relative;
}

.barplot > .image_container > .caption > p {
    width: 100% !important;
    color: rgb(0, 0, 0) !important;
    font-family: "Google Sans", sans-serif;
    font-size: 0.95vw !important;
    font-weight: 600 !important;
}

.scaling {
    margin-top: 0.5vw;
    margin-bottom: 0.0vw;
    margin-left: auto;
    margin-right: auto;
    display: flex;
    justify-content: center;
}

.scaling > .image_container {
    max-width: 44%;
    max-height: 22%;
    margin-top: auto;
    margin-bottom: auto;
}

.scaling > .image_container > img {
    max-width: 100%;
    max-height: 100%;
}

.scaling > .image_container > .caption {
    margin-left: 0.7vw;
    margin-bottom: 1.0vw;
    max-width: 100%;
    max-height: 100%;
    position: relative;
}

.scaling > .image_container > .caption > p {
    width: 100% !important;
    color: rgb(0, 0, 0) !important;
    font-family: "Google Sans", sans-serif;
    font-size: 0.95vw !important;
    font-weight: 600 !important;
}

.scaling > video {
    max-width: var(--content-w);
    max-height: 22%;
    margin-left: 0.2vw;
    margin-right: 0.2vw;
    border-radius: 0.5vw;
}

.xarmfail {
    margin-top: 1.0vw;
    margin-bottom: 1.0vw;
    margin-left: auto;
    margin-right: auto;
    display: flex;
    justify-content: center;
}

.xarmfail > .video_container {
    margin-top: 1.0vw;
    max-width: 11%;
    max-height: 22%;
    margin-left: 0.2vw;
    margin-right: 0.2vw;
    border-radius: 0.5vw;
}

.xarmfail > .video_container > video {
    max-width: 100%;
    max-height: 100%;
    border-radius: 0.5vw;
}

.xarmfail > .video_container > .caption {
    margin-top: -1vw;
    max-width: 100%;
    max-height: 100%;
    position: relative;
}

.xarmfail > .video_container > .caption > p {
    width: 100% !important;
    color: #53565A !important;
    font-family: "Google Sans", sans-serif;
    font-size: 0.7vw !important;
    font-weight: 500 !important;
}

.allegrofail {
    margin-top: 1.0vw;
    margin-bottom: 1.0vw;
    margin-left: auto;
    margin-right: auto;
    display: flex;
    justify-content: center;
}

.allegrofail > .video_container {
    margin-top: 1.0vw;
    max-width: var(--content-w);
    margin-left: 0.2vw;
    margin-right: 0.2vw;
    border-radius: 0.5vw;
}

.allegrofail > .video_container > video {
    max-width: 100%;
    max-height: 100%;
    border-radius: 0.5vw;
}

.allegrofail > .video_container > img {
    max-width: 100%;
    max-height: 100%;
    border-radius: 0.5vw;
}

.allegrofail > .video_container > .caption {
    margin-top: -1vw;
    max-width: 100%;
    max-height: 100%;
    position: relative;
}

.allegrofail > .video_container > .caption > p {
    width: 100% !important;
    color: #53565A !important;
    font-family: "Google Sans", sans-serif;
    font-size: 0.7vw !important;
    font-weight: 500 !important;
}

.teleop {
    margin-top: 1.0vw;
    margin-bottom: 1.0vw;
    margin-left: auto;
    margin-right: auto;
    display: flex;
    justify-content: center;
}

.teleop > .video_container {
    margin-top: 1.0vw;
    max-width: 22%;
    max-height: 22%;
    margin-left: 0.2vw;
    margin-right: 0.2vw;
    border-radius: 0.5vw;
}

.teleop > .video_container > video {
    max-width: 100%;
    max-height: 100%;
    border-radius: 0.5vw;
}

.teleop > .video_container > .caption {
    margin-top: -1vw;
    max-width: 100%;
    max-height: 100%;
    position: relative;
}

.teleop > .video_container > .caption > p {
    width: 100% !important;
    color: #53565A !important;
    font-family: "Google Sans", sans-serif;
    font-size: 0.7vw !important;
    font-weight: 500 !important;
}

.teleop > video {
    max-width: 22%;
    max-height: 22%;
    margin-left: 0.2vw;
    margin-right: 0.2vw;
    border-radius: 0.5vw;
}

.teleopwide {
    margin-top: 1.0vw;
    margin-bottom: 1.0vw;
    margin-left: auto;
    margin-right: auto;
    display: flex;
    justify-content: center;
}

.teleopwide > video {
    max-width: 30%;
    max-height: 22%;
    margin-left: 0.2vw;
    margin-right: 0.2vw;
    border-radius: 0.5vw;
}


#overview > .bibtex {
    font-family: "Courier", monospace;
    font-size: 0.6vw !important;
    color: #2f2f2f;
    background-color: #f2f2f2;
    border: 5px;
    border-color: #2f2f2f;
    border-radius: 10px;
    margin-top: 0.6vw;
    margin-bottom: 3vw;
    padding-top: 0.6vw;
    padding-bottom: 0.6vw;
    vertical-align: center;
    padding-left: 0.5vw;
    padding-right: 0.5vw;
    hyphens: none !important;
    line-height: unset !important;
}

#overview > .dark_mode {
    background-color: #2f2f2f;
    width: 100%;
}

#overview > .dark_mode > p {
    color: rgba(255, 255, 255, 0.92);
!important;
}

#overview > .dark_mode > h1 {
    color: rgba(255, 255, 255, 0.92);
!important;
}

/* Video slider */

@font-face {
    font-family: webflow-icons;
    src: url("data:application/x-font-ttf;charset=utf-8;base64,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") format('truetype');
    font-weight: 400;
    font-style: normal
}

[class*=" w-icon-"], [class^=w-icon-] {
    font-family: webflow-icons !important;
    speak: none;
    font-style: normal;
    font-weight: 400;
    font-variant: normal;
    text-transform: none;
    line-height: 1;
    -webkit-font-smoothing: antialiased;
    -moz-osx-font-smoothing: grayscale
}

.w-icon-slider-right:before {
    content: "\e600"
}

.w-icon-slider-left:before {
    content: "\e601"
}

.w-icon-nav-menu:before {
    content: "\e602"
}

.w-icon-arrow-down:before, .w-icon-dropdown-toggle:before {
    content: "\e603"
}


* {
    -webkit-box-sizing: border-box;
    -moz-box-sizing: border-box;
    box-sizing: border-box
}

html.w-mod-touch * {
    background-attachment: scroll !important
}

.w-hidden {
    display: none
}

.w-button {
    display: inline-block;
    padding: 9px 15px;
    background-color: #3898ec;
    color: #fff;
    border: 0;
    line-height: inherit;
    text-decoration: none;
    cursor: pointer;
    border-radius: 0
}

.w-container {
    margin-left: auto;
    margin-right: auto;
    max-width: var(--content-w)
}

.w-container:after, .w-container:before {
    content: " ";
    display: table;
    grid-column-start: 1;
    grid-row-start: 1;
    grid-column-end: 2;
    grid-row-end: 2
}

.w-container:after {
    clear: both
}


/* https://www.webdesignersacademy.com/show-and-hide-different-content-on-mobile-devices-desktops/ */
#content-desktop {
    display: block;
}

#content-mobile {
    display: none;
}

@media screen and (max-width: 768px) {

    #content-desktop {
        display: none;
    }

    #content-mobile {
        display: block;
    }

}

.w-background-video {
    position: relative;
    overflow: hidden;
    height: 500px;
    color: #fff
}

.w-background-video > video {
    background-size: cover;
    background-position: 50% 50%;
    position: absolute;
    margin: auto;
    width: 100%;
    height: 100%;
    right: -100%;
    bottom: -100%;
    top: -100%;
    left: -100%;
    object-fit: cover;
    z-index: -100
}

.w-background-video > video::-webkit-media-controls-start-playback-button {
    display: none !important;
    -webkit-appearance: none
}

.w-slider {
    position: relative;
    height: 300px;
    text-align: center;
    background: #ddd;
    clear: both;
    -webkit-tap-highlight-color: transparent;
    tap-highlight-color: rgba(0, 0, 0, 0)
}

.w-slider-mask {
    position: relative;
    display: block;
    overflow: hidden;
    z-index: 1;
    left: 0;
    right: 0;
    height: 100%;
    white-space: nowrap
}

.w-slide {
    position: relative;
    display: inline-block;
    vertical-align: top;
    width: 60%;
    height: 80%;
    white-space: normal;
    text-align: left
}

.w-slider-nav {
    position: absolute;
    z-index: 2;
    top: auto;
    right: 0;
    bottom: 0;
    left: 0;
    margin: auto;
    padding-top: 10px;
    height: 40px;
    text-align: center;
    -webkit-tap-highlight-color: transparent;
    tap-highlight-color: rgba(0, 0, 0, 0)
}

.w-slider-nav.w-round > div {
    border-radius: 100%
}

.w-slider-nav.w-num > div {
    width: auto;
    height: auto;
    padding: .2em .5em;
    font-size: inherit;
    line-height: inherit
}

.w-slider-nav.w-shadow > div {
    box-shadow: 0 0 3px rgba(51, 51, 51, .4)
}

.w-slider-nav-invert {
    color: #fff
}

.w-slider-nav-invert > div {
    background-color: rgba(34, 34, 34, .4)
}

.w-slider-nav-invert > div.w-active {
    background-color: #222
}

.w-slider-dot {
    position: relative;
    display: inline-block;
    width: 0.6vw;
    height: 0.6vw;
    background-color: rgba(255, 255, 255, .4);
    cursor: pointer;
    margin: 0 3px .5em;
    transition: background-color .1s, color .1s
}

.w-slider-dot.w-active {
    background-color: #fff
}

.w-slider-dot:focus {
    outline: 0;
    box-shadow: 0 0 0 2px #fff
}

.w-slider-dot:focus.w-active {
    box-shadow: none
}

.w-slider-arrow-left, .w-slider-arrow-right {
    position: absolute;
    width: 80px;
    top: 0;
    right: 0;
    bottom: 0;
    left: 0;
    margin: auto;
    cursor: pointer;
    overflow: hidden;
    color: #fff;
    font-size: 40px;
    -webkit-tap-highlight-color: transparent;
    tap-highlight-color: rgba(0, 0, 0, 0);
    -webkit-user-select: none;
    -moz-user-select: none;
    -ms-user-select: none;
    user-select: none
}

.w-slider-arrow-left [class*=' w-icon-'], .w-slider-arrow-left [class^=w-icon-], .w-slider-arrow-right [class*=' w-icon-'], .w-slider-arrow-right [class^=w-icon-] {
    position: absolute
}

.w-slider-arrow-left:focus, .w-slider-arrow-right:focus {
    outline: 0
}

.w-slider-arrow-left {
    z-index: 3;
    right: auto
}

.w-slider-arrow-right {
    z-index: 4;
    left: auto
}

.w-icon-slider-left, .w-icon-slider-right {
    top: 0;
    right: 0;
    bottom: 0;
    left: 0;
    margin: auto;
    width: 1em;
    height: 1em
}

.w-slider-aria-label {
    border: 0;
    clip: rect(0 0 0 0);
    height: 1px;
    margin: -1px;
    overflow: hidden;
    padding: 0;
    position: absolute;
    width: 1px
}

.w-slider-force-show {
    display: block !important
}

.slider-mask {
    margin-bottom: 103px
}

.slider {
    position: relative;
    left: 0;
    top: 76px;
    right: 0;
    height: 500px;
    margin-bottom: 163px
}

.image {
    display: block;
    max-width: 85%;
    margin: 15px auto 36px
}

.container {
    padding-left: 14px
}

.div-block {
    display: block;
    margin-right: auto;
    margin-left: auto;
    text-align: center
}

.container-2 {
    padding-right: 70px;
    padding-bottom: 0;
    padding-left: 70px;
    padding: 31px 15px;
    background-color: #fff;
    color: #d4d4d4
}

.slider_section {
    padding-bottom: 0px;
    padding-top: 0;
    background-color: #fff;
    text-align: center
}

.div-block-9 {
    overflow: visible;
    width: 98%;
    height: 100%;
    margin-right: auto;
    margin-left: auto
}

.div-block-9.last_block {
    position: absolute;
    left: 101%;
    top: 0;
    right: 0;
    bottom: 0;
    height: 98%
}

.div-block-9.first_video {
    position: absolute;
    left: -200%;
    top: 0;
    right: 0;
    bottom: 0;
    width: 100%;
    height: 98%
}

.video_class {
    width: auto;
    height: 100%;
    margin-right: auto;
    margin-left: auto;
}

.video_class > video {
    border-radius: 0.5vw;
}

.video_class.last_video {
    position: absolute;
    left: 52%;
    top: 0;
    right: 0;
    bottom: 0
}

.video_class.mobile {
    display: none
}

.slider-2 {
    overflow: hidden;
    height: 500px
}

.mask {
    overflow: visible;
    width: 40%;
    margin-right: auto;
    margin-left: auto
}

.slider_v2 {
    overflow: hidden;
    height: 60%;
    margin: 5px -15px 0;
    padding-bottom: 36px;
    background-color: rgba(56, 56, 56, 0)
}

/* smartphone and tablet optimizations */
@media only screen and (max-width: 1000px) {

    #title_slide {
        flex-wrap: wrap;
    }

    .title_right {
        align-content: center;
        align-items: center;
        padding-left: 0;
        padding-right: 0;
        padding-top: 0;
    }

    .title_right > img {
        max-width: 70%;
        max-height: 70%;
        display: block;
        margin-left: auto;
        margin-right: auto;
    }

    .title_right > p {
        margin-left: auto;
        margin-right: auto;
        max-width: 60%;
        font-size: 3vw;
    }

    .date {
        display: none;
    }

    #abstract {
        margin-top: 24px;
        width: var(--abstract-w);
        margin-left: auto;
        margin-right: auto;
        font-size: 1rem;
    }

    .title_left {
        padding-top: 48px;
    }

    .author-container {
        display: grid;
        margin-top: 0;
        font-size: 1rem;
        grid-template-columns: 1fr;
    }

    .contribution {
        font-size: 1.33vw;
        padding-top: 5vw;
    }

    .affiliation {
        margin-top: 5vw;
        font-size: 2vw;
    }

    .venue {
        font-size: 1rem;
        padding-bottom: 0;
    }

    .button-container {
        display: flex;
        justify-content: center;
        gap: 0.8em;
    }

    .slideshow-container {
        position: relative;
        margin: auto;
        padding-top: 10px;
        width: 90%;
    }

    .button {
        margin-top: 8px;
        font-size: 1.1em;
        padding: 0.55em 1.05em;
        border-radius: 0.5em;
    }

    hr.rounded {
        width: var(--content-w);
    }

    #overview h1 {
        font-size: 2rem;
        width: var(--content-w);
        padding-top: 0;
    }

    #overview p {
        -webkit-text-size-adjust: none;
        font-size: 1rem;
        width: var(--content-w);
        padding-top: 0;
    }

    #overview summary {
        -webkit-text-size-adjust: none;
        font-size: 1rem;
        width: var(--content-w);
        padding-top: 0;
    }

    #overview > .final_paragraph {
        padding-bottom: 5.8vw;
    }

    #overview > video {
        max-width: var(--content-w);
        max-height: 90%;
    }

    #overview > .video_container {
        padding-top: 0;
        max-width: var(--content-w);
        max-height: 90%;
    }

    #overview > .video_container > .caption {
        margin-top: -2vw !important;
    }

    #overview > .video_container > .caption > p {
        font-size: 1.4vw !important;
    }

    #overview > .image_container {
        padding-top: 4vw;
        max-width: 10%;
        max-height: 90%;
    }

    .approach {
        max-height: 90%;
    }

    .approach > .video_container {
        max-width: 90%;
        max-height: 90%;
    }

    .approach > .video_container > .caption {
        margin-top: -7vw !important;
    }

    .approach > .video_container > .caption > p {
        font-size: 1.4vw !important;
    }

    .xarm {
        max-height: 90%;
    }

    .xarm > video {
        max-width: 14.5%;
        max-height: 39%;
    }

    .allegroreachtop {
        max-height: 90%;
    }

    .allegroreachtop > video {
        max-width: 22%;
        max-height: 22%;
    }

    .allegroreachmid {
        max-height: 90%;
    }

    .allegroreachmid > video {
        max-width: 22%;
        max-height: 22%;
    }

    .allegroreachbot {
        max-height: 90%;
    }

    .allegroreachbot > .video_container {
        max-width: 22%;
        max-height: 22%;
    }

    .allegroreachbot > .video_container > .caption {
        margin-top: -3vw;
    }

    .allegroreachbot > .video_container > .caption > p {
        font-size: 1.4vw !important;
    }

    .allegroupper {
        max-height: 90%;
        margin-top:2vh;
    }

    .allegroupper > video {
        /* max-width: 44%; */
        /* max-height: 22%; */
        width:100%;
        height:auto;
    }

    .allegrolower {
        max-height: 90%;
    }

    .allegrolower > .video_container {
        width:100%;
        height:auto; 
        /* max-width: 44%; */
        /* max-height: 22%; */
    }

    .allegrolower > .video_container > .caption {
        margin-top: -3vw;
    }

    .allegrolower > .video_container > .caption > p {
        font-size: 1.4vw !important;
    }

    .barplot {
        max-height: 90%;
    }

    .barplot > .image_container {
        max-width: 90%;
        max-height: 22%;
    }

    .barplot > .image_container > .caption > p {
        font-size: 1.9vw !important;
    }

    .scaling {
        max-height: 90%;
    }

    .scaling > .image_container {
        max-width: 90%;
        max-height: 22%;
    }

    .scaling > .image_container > .caption > p {
        font-size: 1.9vw !important;
    }

    .allegroretry {
        max-height: 90%;
    }

    .allegroretry > video {
        max-width: 44%;
        max-height: 22%;
    }

    .teleop {
        max-height: 90%;
    }

    .teleop > .video_container {
        max-width: 44%;
        max-height: 22%;
    }

    .teleop > .video_container > .caption {
        margin-top: -3vw;
    }

    .teleop > .video_container > .caption > p {
        font-size: 1.4vw !important;
    }

    .xarmfail {
        max-height: 90%;
    }

    .xarmfail > .video_container {
        max-width: 22%;
        max-height: 44%;
    }

    .xarmfail > .video_container > .caption {
        margin-top: -3vw;
    }

    .xarmfail > .video_container > .caption > p {
        font-size: 1.4vw !important;
    }

    .allegrofail > .video_container {
        max-width: 90%;
        max-height: 90%;
    }

    .allegrofail > .video_container > .caption {
        margin-top: -3vw;
    }

    .allegrofail > .video_container > .caption > p {
        font-size: 1.4vw !important;
    }

    .teaser > .video_container {
        max-width: 90%;
        max-height: 90%;
    }

    #overview > .bibtex {
        font-size: 2.3vw;
    }

    .w-container {
        margin-left: auto;
        margin-right: auto;
        max-width: 90%
    }
}

.video_row {
    display: flex;
    justify-content: center;
    flex-wrap: wrap;
    margin-bottom: 2vw;
}

.video_cell {
    flex: 0 1 calc(33.33% - 1vw);
    margin: 0.5vw;
    max-width: calc(33.33% - 1vw);
    font-family: "Google Sans", sans-serif;
}

.video_cell video {
    width: 100%;
    height: auto;
    border-radius: 0.5vw;
}

.video_cell .caption {
    margin-top: 0.5vw;
}

.video_cell .caption p {
    color: #53565A;
    font-family: "Google Sans", sans-serif;
    font-size: 0.9vw;
    font-weight: 500;
    text-align: center;
    margin: 0;
}

@media (max-width: 768px) {
    .video_cell {
        flex: 0 1 calc(50% - 1vw);
        max-width: calc(50% - 1vw);
    }

    .video_cell .caption p {
        font-size: 1.4vw;
    }
}

@media (max-width: 480px) {
    .video_cell {
        flex: 0 1 100%;
        max-width: 100%;
    }

    .video_cell .caption p {
        font-size: 2vw;
    }
}
.allegrolower2 {
    margin-top: 0.4vw;
    margin-bottom: 1.0vw;
    margin-left: auto;
    margin-right: auto;
    display: flex;
    justify-content: center;
}


.allegrolower2 > .video_container {
    max-width: 22%;
    max-height: 22%;
    margin-left: 0.2vw;
    margin-right: 0.2vw;
}

.allegrolower2 > .video_container > .col {
    flex: 1;
    max-width: 100%;
    margin-left: 0.2vw;
    margin-right: 0.2vw;
    text-align: center;
    font-family: "Google Sans", sans-serif;
}

.allegrolower2 > .video_container > video {
    max-width: 100%;
    max-height: 100%;
    border-radius: 0.5vw;
}