:root { color-scheme: light; --background: #faf9f5; --surface: #f2f0e9; --text: #3d3929; --border: #e1ded5; --accent: #c96442; --accent-text: #af5033; --muted: #716d62; font-family: "Iowan Old Style", "Palatino Linotype", "Book Antiqua", Georgia, serif; color: var(--text); background: var(--background); font-synthesis: none; -webkit-font-smoothing: antialiased; } * { box-sizing: border-box; } body { margin: 0; min-height: 100vh; min-height: 100svh; } a { color: inherit; text-decoration: none; -webkit-tap-highlight-color: transparent; } a:focus-visible { outline: 2px solid var(--accent); outline-offset: 6px; } .modules { width: min(1120px, 100%); min-height: 100vh; min-height: 100svh; margin: 0 auto; padding: 64px 40px; display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); align-content: center; gap: 24px; } .module { min-height: 420px; padding: 36px 40px 42px; display: flex; flex-direction: column; align-items: flex-start; justify-content: space-between; background: var(--surface); border: 1px solid var(--border); border-radius: 16px; transition: background-color 180ms ease, border-color 180ms ease, transform 180ms ease; } .module-arrow { align-self: flex-end; flex-shrink: 0; color: var(--accent); stroke: currentColor; stroke-width: 1.5; stroke-linecap: round; stroke-linejoin: round; transition: transform 180ms ease; } .module-title { font-size: clamp(40px, 5.2vw, 64px); font-weight: 400; line-height: 1.06; letter-spacing: -0.045em; } .module:first-child .module-title { font-size: clamp(64px, 7vw, 88px); } .module-body { width: 100%; } .module-body .module-title { margin: 0 0 28px; } .chapter-list { list-style: none; margin: 0; padding: 0; } .chapter-list > li + li { border-top: 1px solid var(--border); } .chapter-list a { display: grid; grid-template-columns: 24px minmax(0, 1fr); gap: 16px; padding: 16px 0; font-size: 21px; line-height: 1.4; transition: color 180ms ease; } .chapter-number { padding-top: 3px; color: var(--accent-text); font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", sans-serif; 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display: inline-flex; align-items: center; justify-content: center; border: 1px solid var(--border); border-radius: 50%; transition: color 180ms ease; } .back svg { stroke: currentColor; stroke-width: 1.5; stroke-linecap: round; stroke-linejoin: round; } .topic-title { margin: 88px 0 0; font-size: clamp(44px, 7vw, 80px); font-weight: 400; line-height: 1.08; letter-spacing: -0.045em; overflow-wrap: break-word; } .timeline-page { width: min(1280px, 100%); padding-bottom: 96px; } .timeline-page .topic-title { margin-top: 64px; font-size: clamp(44px, 5.5vw, 68px); } .timeline { list-style: none; margin: 64px 0 0; padding: 0; } .timeline-entry { display: grid; grid-template-columns: 88px minmax(0, 1fr); gap: 28px; } .timeline-year { padding-top: 5px; font-size: 23px; line-height: 1.3; text-align: right; font-variant-numeric: lining-nums tabular-nums; } .timeline-content { position: relative; min-width: 0; padding: 0 0 48px 36px; border-left: 1px solid var(--border); } .timeline-content::before { content: ""; position: absolute; top: 13px; left: -4px; width: 7px; height: 7px; border-radius: 50%; background: var(--accent); } .timeline-entry:not(:last-child) .timeline-content { padding-bottom: 64px; } .timeline-media { display: block; width: min(100%, 720px); margin-top: 36px; border-radius: 6px; } .timeline-media--wide { width: 100%; } .timeline-media img { display: block; width: 100%; height: auto; background: var(--surface); border-radius: inherit; } .timeline-heading h2 { margin: 0; font-size: 30px; font-weight: 400; line-height: 1.3; letter-spacing: -0.025em; } .timeline-heading p { margin: 6px 0 0; color: var(--muted); font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", sans-serif; font-size: 15px; line-height: 1.5; } .reference-link, .game-link figcaption { text-decoration: underline; text-decoration-color: var(--border); text-decoration-thickness: 1px; text-underline-offset: 5px; transition: color 180ms ease, text-decoration-color 180ms ease; } .game-link { display: block; min-width: 0; border-radius: 5px; } .game-gallery { display: grid; grid-template-columns: repeat(4, minmax(0, 1fr)); gap: 24px; margin-top: 36px; } .game { min-width: 0; margin: 0; } .game img { display: block; width: 100%; height: auto; aspect-ratio: 160 / 210; object-fit: contain; image-rendering: pixelated; background: #000; border-radius: 5px; } .game figcaption { margin-top: 14px; font-size: 21px; line-height: 1.3; text-align: center; } .chapter-page .topic-title { font-size: clamp(40px, 5.5vw, 64px); } .mdp-interaction { margin: 56px 0 0; } .mdp-interaction > a { display: block; } .mdp-interaction img { display: block; width: 100%; height: auto; } .mdp-assumption, .mdp-explanation { font-size: 22px; line-height: 1.5; } .mdp-assumption { margin: 28px 0 14px; } .mdp-interaction figcaption { color: var(--muted); font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", sans-serif; font-size: 14px; line-height: 1.6; } .mdp-definition { margin-top: 64px; padding: 32px; border: 1px solid var(--border); border-radius: 12px; background: var(--surface); } .mdp-definition h2, .mdp-goal h2, .mdp-example h2 { margin: 0; font-size: 32px; font-weight: 400; line-height: 1.25; letter-spacing: -0.025em; } .definition-list { list-style: none; margin: 28px 0 0; padding: 0; } .definition-list li { display: grid; grid-template-columns: minmax(0, 1fr) minmax(200px, 0.8fr); align-items: baseline; gap: 24px; padding: 16px 0; font-size: 25px; line-height: 1.4; } .definition-list li + li { border-top: 1px solid var(--border); } .definition-list .transition-definition { row-gap: 12px; } .definition-note { grid-column: 1 / -1; margin: 0; font-size: 18px; line-height: 1.6; } .mdp-goal { margin-top: 64px; } .mdp-tuple { margin: 0 0 32px; font-size: clamp(24px, 3vw, 32px); } .mdp-equation { margin-top: 28px; padding: 12px 0; overflow-x: auto; font-size: clamp(20px, 3vw, 32px); } .mdp-equation math { width: max-content; margin: 0; } .mdp-equation:focus-visible { outline: 2px solid var(--accent); outline-offset: 6px; } .mdp-explanation { margin: 28px 0 0; } .mdp-example { margin-top: 64px; padding-top: 48px; border-top: 1px solid var(--border); } .gridworld-figure { width: min(100%, 720px); margin: 32px 0 0; } .gridworld-figure a, .gridworld-figure img { display: block; } .gridworld-figure img { width: 100%; height: auto; border-radius: 6px; } .mdp-example h3 { margin: 48px 0 0; font-size: 28px; font-weight: 400; line-height: 1.3; } .value-intro { margin-top: 56px; } .value-intro h2, .value-case h2 { margin: 0; font-size: 32px; font-weight: 400; line-height: 1.25; letter-spacing: -0.025em; } .exact-limitations { list-style: none; margin: 32px 0 0; padding: 0; background: var(--surface); border: 1px solid var(--border); border-radius: 12px; } .exact-limitations > li { display: grid; grid-template-columns: minmax(0, 1.1fr) 32px minmax(0, 1fr); align-items: start; gap: 24px; padding: 32px; } .exact-limitations > li + li { border-top: 1px solid var(--border); } .exact-limitations h3 { margin: 0; font-size: 25px; font-weight: 400; line-height: 1.35; letter-spacing: -0.015em; } .exact-limitations p { margin: 16px 0 0; font-size: 20px; line-height: 1.55; } .limitation-solution h3, .limitation-arrow { color: var(--accent-text); } .limitation-arrow { font-size: 32px; line-height: 1; text-align: center; } .limitation-arrow-narrow { display: none; } .limitation-notation { white-space: nowrap; } .value-example-grid { display: grid; grid-template-columns: minmax(0, 1fr) minmax(0, 1fr); align-items: start; gap: 40px; margin-top: 48px; } .value-example-grid .gridworld-figure { width: 100%; margin: 0; } .value-assumptions h3 { margin: 0; font-size: 28px; font-weight: 400; line-height: 1.3; } .value-assumptions p { margin: 16px 0 0; font-size: 22px; line-height: 1.6; } .value-examples { list-style: none; margin: 24px 0 0; padding: 0; font-size: 27px; } .value-examples li + li { margin-top: 22px; } .value-exit-note { margin-top: 48px; padding-top: 28px; border-top: 1px solid var(--border); } .value-exit-note .mdp-explanation { margin-top: 0; } .value-case { margin-top: 64px; padding-top: 40px; border-top: 1px solid var(--border); } .value-case .value-examples { margin-top: 32px; } .value-expression { padding: 2px 0; overflow-x: auto; } .value-expression--wrap { display: flex; flex-wrap: wrap; align-items: baseline; gap: 8px; } .value-stochastic-equation { font-size: 27px; } .value-horizon + .value-horizon { margin-top: 40px; } .value-horizon-definition { margin: 0; font-size: 24px; line-height: 1.6; } .value-recursion .mdp-equation, .value-bellman .mdp-equation, .value-convergence .mdp-equation, .value-q-values .mdp-equation, .policy-evaluation .mdp-equation { margin-top: 24px; font-size: clamp(20px, 2.6vw, 28px); } .value-theorem { margin-top: 32px; padding: 28px; border: 1px solid var(--border); border-radius: 12px; background: var(--surface); } .value-theorem .mdp-explanation { margin-top: 0; } .value-algorithm { margin-top: 32px; padding: 28px; border: 1px solid var(--border); border-radius: 12px; background: var(--surface); } .value-algorithm h3 { margin: 0; font-size: 28px; font-weight: 400; line-height: 1.3; } .value-q-values h3, .policy-evaluation h3, .tabular-q-learning h3, .qlearning-exploration h3, .qlearning-requirements h3, .qlearning-scale h3, .approximate-q-learning h3, .recall-q-learning h3, .dqn-training h3, .double-dqn h3, .prioritized-replay h3, .off-policy-intro h3 { margin: 32px 0 0; font-size: 26px; font-weight: 400; line-height: 1.3; } .off-policy-intro .mdp-equation, .qlearning-requirements .mdp-equation, .qlearning-scale .mdp-equation, .approximate-q-learning .mdp-equation, .recall-q-learning .mdp-equation, .dqn-details .mdp-equation, .double-dqn .mdp-equation, .prioritized-replay .mdp-equation, .tabular-q-learning .mdp-equation, .tabular-q-algorithm .mdp-equation { font-size: clamp(20px, 2.6vw, 26px); } .dqn-training .mdp-equation { font-size: clamp(18px, 2.5vw, 24px); } .double-dqn .dqn-long-equation { font-size: 22px; } .policy-optimization .mdp-equation, .policy-gradients .mdp-equation { font-size: clamp(20px, 2.6vw, 28px); } .temporal-decomposition .mdp-equation, .baseline-subtraction .mdp-equation { font-size: clamp(18px, 2.5vw, 26px); } .policy-gradient-figure { width: min(100%, 760px); margin: 32px auto 0; } .policy-gradient-figure a, .policy-gradient-figure img { display: block; } .policy-gradient-figure img { width: 100%; height: auto; } .policy-gradient-validity-image { max-width: 280px; } .policy-control-loop { margin: 36px 0 0; overflow-x: auto; } .policy-control-loop img { display: block; width: 100%; height: auto; } .policy-control-loop:focus-visible { outline: 2px solid var(--accent-text); outline-offset: 5px; } .scale-gallery { display: grid; grid-template-columns: repeat(3, minmax(0, 1fr)); gap: 28px; margin-top: 32px; } .scale-environment { display: block; min-width: 0; } .scale-environment figure { margin: 0; } .scale-image { height: 280px; } .scale-image img { display: block; width: 100%; height: 100%; object-fit: contain; } .scale-environment figcaption { margin-top: 20px; text-align: center; font-size: 24px; line-height: 1.5; } .scale-name { border-bottom: 1px solid var(--border); transition: color 180ms ease, border-color 180ms ease; } .scale-environment:hover .scale-name { color: var(--accent-text); border-color: var(--accent-text); } .scale-count, .scale-count > span { display: block; } .dqn-flow { margin: 32px 0 0; padding: 8px 0; overflow-x: auto; } .dqn-flow img { display: block; width: 100%; min-width: 800px; height: auto; } .dqn-flow:focus-visible, .dqn-results:focus-visible { outline: 2px solid var(--accent-text); outline-offset: 5px; } .dqn-loss-plot, .dqn-research-figure { margin: 32px 0 0; } .dqn-loss-plot img, .dqn-research-figure img { display: block; width: min(100%, 760px); height: auto; margin: 0 auto; } .dqn-research-figure figcaption { margin-top: 16px; color: var(--muted); font-size: 18px; line-height: 1.5; } .dqn-results { margin-top: 32px; overflow-x: auto; } .dqn-results table { width: 100%; min-width: 680px; border-collapse: collapse; font-size: 20px; line-height: 1.5; } .dqn-results th, .dqn-results td { padding: 12px 16px; border-bottom: 1px solid var(--border); text-align: center; } .dqn-results th { font-weight: 400; } .dqn-results tbody th { text-align: left; } .dqn-results thead { background: var(--surface); } .exploration-example { margin-top: 32px; padding: 28px; background: var(--surface); border: 1px solid var(--border); border-radius: 12px; } .exploration-example h4 { margin: 0; font-size: 25px; font-weight: 400; line-height: 1.35; } .exploration-example table { width: 100%; margin-top: 24px; border-collapse: collapse; font-size: 20px; line-height: 1.5; text-align: left; } .exploration-example th, .exploration-example td { padding: 12px 16px; border-bottom: 1px solid var(--border); font-weight: 400; } .exploration-example thead th { color: var(--muted); font-size: 18px; } .exploration-example th:first-child { padding-left: 0; } .policy-explanation { margin: 28px 0 0; padding-left: 28px; font-size: 22px; line-height: 1.6; } .policy-explanation li + li { margin-top: 12px; } .entropy-examples h3, .maximum-entropy-mdp h3, .entropy-one-step-policy h3, .entropy-value-iteration h3 { margin: 32px 0 0; font-size: 26px; font-weight: 400; line-height: 1.3; } .entropy-definition .mdp-equation, .entropy-examples .mdp-equation, .maximum-entropy-mdp .mdp-equation, .entropy-one-step-policy .mdp-equation, .entropy-one-step-value .mdp-equation, .entropy-value-iteration .mdp-equation { font-size: clamp(20px, 2.6vw, 28px); } .entropy-one-step-policy .entropy-long-equation, .entropy-one-step-value .entropy-long-equation, .entropy-value-iteration .entropy-long-equation { font-size: 20px; } .entropy-binary-plot { width: min(100%, 640px); margin: 32px auto 0; } .entropy-binary-plot img, .entropy-distributions img { display: block; width: 100%; height: auto; } .entropy-distributions { display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 32px; margin-top: 32px; } .entropy-distributions figure { min-width: 0; margin: 0; } .entropy-distributions figcaption { margin-top: 16px; font-size: 21px; line-height: 1.4; text-align: center; } .q-gridworld { width: min(100%, 640px); margin: 32px auto 0; } .q-gridworld figcaption { margin-bottom: 16px; font-size: 26px; text-align: center; } .q-gridworld img { display: block; width: 100%; height: auto; } .value-algorithm p { margin: 24px 0 0; font-size: 22px; line-height: 1.6; } .value-algorithm-loop { margin-left: 24px; } .value-gridworld, .value-intuition, .value-contractions { margin-top: 48px; } .value-gridworld h3, .value-intuition h3, .value-contractions h3 { margin: 0; font-size: 28px; font-weight: 400; line-height: 1.3; letter-spacing: -0.025em; } .value-intuition .proof-equation { margin-top: 32px; padding: 16px 0; font-size: 26px; } .value-intuition .proof-series { font-size: 22px; } .proof-label { color: var(--accent-text); font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", sans-serif; font-size: 15px; } .proof-arrow { font-size: 22px; } .contraction-list { margin: 28px 0 0; padding-left: 28px; } .contraction-list > li + li { margin-top: 32px; } .contraction-list > li::marker { color: var(--accent-text); } .contraction-list h4 { margin: 0; font-size: 22px; font-weight: 400; line-height: 1.5; } .contraction-list .mdp-equation { margin-top: 16px; } .contraction-list .mdp-explanation { margin-top: 16px; } .exercise-gridworld { width: min(100%, 520px); margin: 32px auto 0; } .exercise-gridworld img { display: block; width: 100%; height: auto; } .exercise-matches { margin-top: 32px; overflow-x: auto; } .exercise-matches:focus-visible { outline: 2px solid var(--accent); outline-offset: 6px; } .exercise-matches table { width: 100%; min-width: 600px; border-collapse: collapse; text-align: left; font-size: 20px; line-height: 1.5; } .exercise-matches th, .exercise-matches td { padding: 16px; border-bottom: 1px solid var(--border); font-weight: 400; } .exercise-matches thead th { color: var(--muted); font-size: 18px; } .exercise-matches th:first-child { padding-left: 0; } .exercise-matches td { white-space: nowrap; } .iteration-layout { display: grid; grid-template-columns: minmax(0, 1fr) minmax(0, 1fr); align-items: start; gap: 40px; margin-top: 32px; } .iteration-context { padding-top: 56px; } .iteration-context .gridworld-figure { width: 100%; margin: 0; } .iteration-settings { margin: 24px 0 0; font-size: 22px; line-height: 1.6; } .iteration-player { min-width: 0; } .iteration-step { margin: 0 0 16px; font-size: 32px; line-height: 1.25; } .iteration-grid { width: 100%; table-layout: fixed; border-collapse: collapse; font-family: "SFMono-Regular", Consolas, "Liberation Mono", monospace; font-size: clamp(17px, 2vw, 24px); font-variant-numeric: tabular-nums; } .iteration-grid td { position: relative; width: 25%; padding: 0; border: 1px solid var(--border); background: var(--surface); text-align: center; transition: background-color 280ms ease; } .iteration-grid td > span { display: grid; place-items: center; aspect-ratio: 1; } .iteration-grid .is-positive { background: color-mix(in srgb, #aeb99d calc(var(--value) * 100%), var(--surface)); } .iteration-grid .is-negative { background: #efd5c7; } .iteration-grid .iteration-wall { background: var(--border); } .iteration-exit::after { position: absolute; inset: 8%; border: 1px solid currentColor; opacity: 0.3; content: ""; pointer-events: none; } .iteration-controls { display: flex; align-items: center; gap: 16px; margin-top: 16px; } .iteration-controls[hidden] { display: none; } .iteration-toggle { display: grid; flex: 0 0 40px; width: 40px; height: 40px; padding: 0; place-items: center; border: 1px solid var(--border); border-radius: 50%; background: var(--surface); color: var(--accent-text); cursor: pointer; } .iteration-player[data-playing="true"] .iteration-icon--play, .iteration-player[data-playing="false"] .iteration-icon--pause { display: none; } .iteration-range { flex: 1; min-width: 0; margin: 0; accent-color: var(--accent-text); cursor: pointer; } .iteration-toggle:focus-visible, .iteration-range:focus-visible { outline: 2px solid var(--accent); outline-offset: 4px; } @media (max-width: 960px) { .game-gallery { grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 28px 20px; } } @media (max-width: 680px) { .policy-control-loop { max-width: 390px; margin-left: auto; margin-right: auto; } .scale-gallery { grid-template-columns: minmax(0, 1fr); gap: 32px; } .modules { grid-template-columns: 1fr; gap: 16px; padding: 32px 24px; } .module { min-height: 280px; padding: 28px 30px 32px; } .module-title { font-size: clamp(40px, 8.8vw, 56px); } .module:first-child .module-title { font-size: 64px; } .chapter-list a { gap: 12px; font-size: 19px; } .subchapter-list { margin-left: 36px; } .subchapter-list a { font-size: 18px; } .chapter-sections a { font-size: 25px; } .chapter-description { font-size: 20px; } .topic { padding: 32px 24px 64px; } .topic-title { margin-top: 64px; } .timeline-page .topic-title { margin-top: 48px; font-size: clamp(38px, 8vw, 52px); } .timeline { margin-top: 44px; } .timeline-entry { grid-template-columns: minmax(0, 1fr); gap: 16px; } .timeline-year { padding: 0 0 0 24px; color: var(--accent-text); font-size: 20px; text-align: left; } .timeline-content { padding: 0 0 28px 24px; } .timeline-heading h2 { font-size: 27px; } .game-gallery { margin-top: 28px; } .timeline-media { margin-top: 28px; } .timeline-entry:not(:last-child) .timeline-content { padding-bottom: 44px; } .game figcaption { margin-top: 10px; font-size: 18px; } .mdp-interaction { margin-top: 36px; } .mdp-assumption, .mdp-explanation { font-size: 20px; } .mdp-definition { margin-top: 44px; padding: 24px; } .mdp-definition h2, .mdp-goal h2, .mdp-example h2 { font-size: 28px; } .definition-list li { grid-template-columns: minmax(0, 1fr); gap: 8px; font-size: 23px; } .mdp-goal { margin-top: 44px; } .mdp-example { margin-top: 44px; padding-top: 36px; } .mdp-example h3 { margin-top: 36px; font-size: 26px; } .value-intro { margin-top: 36px; } .exact-limitations { margin-top: 24px; } .exact-limitations > li { grid-template-columns: minmax(0, 1fr); gap: 20px; padding: 24px; } .exact-limitations h3 { font-size: 23px; } .limitation-arrow { justify-self: start; } .limitation-arrow-wide { display: none; } .limitation-arrow-narrow { display: inline; } .entropy-distributions { grid-template-columns: minmax(0, 1fr); } .value-intro h2, .value-case h2 { font-size: 28px; } .value-example-grid { grid-template-columns: minmax(0, 1fr); gap: 32px; margin-top: 36px; } .value-assumptions h3 { font-size: 26px; } .value-assumptions p { font-size: 20px; } .value-exit-note { margin-top: 36px; } .value-case { margin-top: 44px; padding-top: 32px; } .value-case .value-examples { font-size: 22px; } .value-stochastic-equation { font-size: 20px; } .value-horizon-definition { font-size: 22px; } .value-algorithm { padding: 20px; } .exploration-example { padding: 20px; } .exploration-example th, .exploration-example td { padding: 12px 8px; } .exploration-example thead th { font-size: 16px; } .value-theorem { padding: 20px; } .value-algorithm p { font-size: 20px; } .value-algorithm-loop { margin-left: 12px; } .iteration-layout { grid-template-columns: minmax(0, 1fr); gap: 32px; } .value-gridworld, .value-intuition, .value-contractions { margin-top: 36px; } .value-gridworld h3, .value-intuition h3, .value-contractions h3 { font-size: 26px; } .value-intuition .proof-equation { font-size: 20px; } .iteration-context { padding-top: 0; } .iteration-settings { font-size: 20px; } } @media (max-width: 360px) { .game-gallery { grid-template-columns: minmax(0, 1fr); } } @media (prefers-reduced-motion: reduce) { *, *::before, *::after { transition: none !important; } }