index.html

---
layout: default
title: "Home"
description: "人形机器人学习方向的每日论文精读笔记：强化学习、动作重定向、全身控制、Sim-to-Real 等方向的中文笔记，附学习路线图、交互演示与讲解视频。"
---
<header class="index-header">
  <h1 data-en="{{ site.title | escape }}" data-zh="{{ site.description | escape }}">{{ site.title | escape }}</h1>
  <p class="index-lede" data-en="Close readings of humanoid robot learning papers, written in Chinese: reinforcement learning, motion retargeting, whole body control and sim to real transfer, with a learning roadmap, interactive demos and narrated videos." data-zh="人形机器人学习方向的论文精读笔记：强化学习、动作重定向、全身控制、仿真到现实迁移，附学习路线图、交互演示与配音讲解视频。">Close readings of humanoid robot learning papers, written in Chinese: reinforcement learning, motion retargeting, whole body control and sim to real transfer, with a learning roadmap, interactive demos and narrated videos.</p>
  {% assign paper_count = 0 %}
  {% for cat in site.data.papers %}
    {% assign cat_papers_size = cat[1].papers | size %}
    {% assign paper_count = paper_count | plus: cat_papers_size %}
    {% if cat[1].subcategories %}
      {% for subcat in cat[1].subcategories %}
        {% assign subcat_papers_size = subcat.papers | size %}
        {% assign paper_count = paper_count | plus: subcat_papers_size %}
      {% endfor %}
    {% endif %}
  {% endfor %}
  <p class="index-meta-chips">
    <span class="index-chip" id="paper-count-label">
      <svg class="icon" aria-hidden="true" focusable="false"><use href="#i-file-text"></use></svg>
      <span data-en="{{ paper_count | escape }} notes" data-zh="共 {{ paper_count | escape }} 篇笔记">{{ paper_count | escape }} notes</span>
    </span>
    <a href="{{ '/updates.html' | relative_url }}" class="index-chip index-chip-link">
      <svg class="icon" aria-hidden="true" focusable="false"><use href="#i-clock-counter-clockwise"></use></svg>
      <span data-en="Update log" data-zh="更新记录">Update log</span>
      <span class="index-chip-arrow" aria-hidden="true"><svg class="icon" focusable="false"><use href="#i-arrow-right"></use></svg></span>
    </a>
  </p>
</header>

<div class="index-layout">
  <aside class="toc-sidebar" id="toc-sidebar">
    <div class="toc-wrapper">
      <h3 class="toc-title" data-en="Categories" data-zh="分类导航">分类导航</h3>
      <nav class="toc-nav">
        <ul class="toc-list">
          <li class="toc-item toc-h2" data-toc-for="roadmap-title">
            <a href="#roadmap-title" class="toc-link toc-link-roadmap">
              <svg class="icon" aria-hidden="true" focusable="false"><use href="#i-map-pin"></use></svg><span data-en="Learning roadmap" data-zh="学习路线图">Learning roadmap</span>
            </a>
          </li>
          {% for cat in site.data.papers %}
          {% assign cat_papers_size = cat[1].papers | size %}
          {% assign total_count = cat_papers_size %}
          {% if cat[1].subcategories %}
            {% for subcat in cat[1].subcategories %}
              {% assign subcat_papers_size = subcat.papers | size %}
              {% assign total_count = total_count | plus: subcat_papers_size %}
            {% endfor %}
          {% endif %}
          <li class="toc-item toc-h2" data-toc-for="cat-{{ forloop.index }}">
            <a href="#cat-{{ forloop.index }}" class="toc-link"><span data-en="{{ cat[1].display_name | escape }}" data-zh="{{ cat[1].zhname | escape }}">{{ cat[1].display_name | escape }}</span> <span class="toc-count">({{ total_count }})</span></a>
            {% if cat[1].subcategories %}
            <ul class="toc-sublist">
              {% for subcat in cat[1].subcategories %}
              {% assign subcat_size = subcat.papers | size %}
              <li class="toc-item toc-h3" data-toc-for="subcat-{{ forloop.parentloop.index }}-{{ forloop.index }}">
                <a href="#subcat-{{ forloop.parentloop.index }}-{{ forloop.index }}" class="toc-link toc-link-sub"><span data-en="{{ subcat.name | escape }}" data-zh="{{ subcat.zhname | escape }}">{{ subcat.name | escape }}</span> <span class="toc-count">({{ subcat_size }})</span></a>
              </li>
              {% endfor %}
            </ul>
            {% endif %}
          </li>
          {% endfor %}
        </ul>
      </nav>
    </div>
  </aside>

  <div class="index-main" id="index-main">

    <p class="index-legend"><svg class="icon" aria-hidden="true" focusable="false"><use href="#i-star"></use></svg><span data-en="Note links to open source code" data-zh="笔记含开源源码链接">Note links to open source code</span></p>
    <div class="search-container" role="search">
      <svg class="icon search-icon" aria-hidden="true" focusable="false"><use href="#i-magnifying-glass"></use></svg>
      <input type="text" id="paper-search" placeholder="Search by title or arXiv ID..." data-en-placeholder="Search by title or arXiv ID..." data-zh-placeholder="通过论文标题或 arXiv 编号搜索..." aria-label="Search papers" data-en-aria-label="Search papers" data-zh-aria-label="搜索论文">
    </div>
    <div class="mermaid-container" id="roadmap-title">
      <details>
        <summary class="mermaid-title roadmap-entry">
          <span class="roadmap-entry-copy">
            <span class="roadmap-entry-label"><svg class="icon" aria-hidden="true" focusable="false"><use href="#i-map-pin"></use></svg><span data-en="Recommended learning roadmap" data-zh="推荐学习路线图">推荐学习路线图</span></span>
            <span class="roadmap-entry-hint" data-en="Not sure where to start? Follow the path, one paper at a time." data-zh="不知道先读哪篇？沿着路线，一步步读懂机器人学习。">不知道先读哪篇？沿着路线，一步步读懂机器人学习。</span>
          </span>
          <span class="roadmap-entry-cta">
            <span class="roadmap-entry-start" data-en="Start here" data-zh="从这里开始">从这里开始</span>
            <span class="roadmap-entry-close" data-en="Collapse" data-zh="收起路线图">收起路线图</span>
            <span class="roadmap-entry-arrow" aria-hidden="true"><svg class="icon" focusable="false"><use href="#i-arrow-right"></use></svg></span>
          </span>
        </summary>
        <p class="roadmap-link-hint" data-en="Hover over a node for its details; click it to open the note. Nodes marked “paper” open the original paper. 🎬 marks notes with a narrated video. Click elsewhere on the diagram to zoom in." data-zh="鼠标悬停节点查看详情，点击阅读笔记；标注“原文”的节点打开论文。🎬 表示笔记含配音讲解视频。点击图中其他区域可放大查看。">Hover over a node for its details; click it to open the note. Nodes marked “paper” open the original paper. 🎬 marks notes with a narrated video. Click elsewhere on the diagram to zoom in.</p>
        <div class="mermaid" id="roadmap-mermaid"></div>
      </details>
    </div>
    <script src="{{ '/assets/js/roadmap-entry.js' | relative_url }}" defer></script>
    <script type="application/json" id="roadmap-node-links">{
{%- assign link_first = true -%}
{%- for pair in site.data.roadmap_links -%}
{%- unless link_first -%},{%- endunless -%}
{%- assign link_first = false -%}
{%- assign link_url = pair[1] -%}
{%- assign link_prefix = link_url | slice: 0, 8 -%}
{%- unless link_prefix == 'https://' -%}
{%- assign link_url = link_url | relative_url -%}
{%- endunless -%}
      {{ pair[0] | jsonify | replace: '<', '\u003c' | replace: '>', '\u003e' | replace: '&', '\u0026' }}: {{ link_url | jsonify | replace: '<', '\u003c' | replace: '>', '\u003e' | replace: '&', '\u0026' }}
{%- endfor -%}
    }</script>
    {%- comment -%}
      路线图节点悬浮卡片的数据：按 roadmap_links 的笔记地址在 _data/papers.json 里找到那篇论文，
      只输出卡片要用的字段（标题、板块、发表时间、arXiv、开源、简介、讲解动画幕数、配音视频时长）。
    {%- endcomment %}
    <script type="application/json" id="roadmap-node-details">{
{%- assign detail_first = true -%}
{%- for pair in site.data.roadmap_links -%}
{%- assign detail_paper = nil -%}
{%- assign detail_cat = nil -%}
{%- for cat in site.data.papers -%}
{%- assign detail_hit = cat[1].papers | where: "url", pair[1] | first -%}
{%- unless detail_hit -%}
{%- for sc in cat[1].subcategories -%}
{%- assign detail_hit = sc.papers | where: "url", pair[1] | first -%}
{%- if detail_hit -%}{%- break -%}{%- endif -%}
{%- endfor -%}
{%- endunless -%}
{%- if detail_hit -%}
{%- assign detail_paper = detail_hit -%}
{%- assign detail_cat = cat[1] -%}
{%- break -%}
{%- endif -%}
{%- endfor -%}
{%- if detail_paper -%}
{%- unless detail_first -%},{%- endunless -%}
{%- assign detail_first = false -%}
      {{ pair[0] | jsonify | replace: '<', '\u003c' | replace: '>', '\u003e' | replace: '&', '\u0026' }}: {
        "title": {{ detail_paper.title | jsonify | replace: '<', '\u003c' | replace: '>', '\u003e' | replace: '&', '\u0026' }},
        "zh_title": {{ detail_paper.zh_title | default: detail_paper.zhname | jsonify | replace: '<', '\u003c' | replace: '>', '\u003e' | replace: '&', '\u0026' }},
        "category": {{ detail_cat.display_name | jsonify | replace: '<', '\u003c' | replace: '>', '\u003e' | replace: '&', '\u0026' }},
        "category_zh": {{ detail_cat.zhname | default: detail_cat.display_name | jsonify | replace: '<', '\u003c' | replace: '>', '\u003e' | replace: '&', '\u0026' }},
        "date": {{ detail_paper.published_date_en | jsonify | replace: '<', '\u003c' | replace: '>', '\u003e' | replace: '&', '\u0026' }},
        "date_zh": {{ detail_paper.published_date_zh | jsonify | replace: '<', '\u003c' | replace: '>', '\u003e' | replace: '&', '\u0026' }},
        "arxiv": {{ detail_paper.arxiv | jsonify | replace: '<', '\u003c' | replace: '>', '\u003e' | replace: '&', '\u0026' }},
        "open_source": {{ detail_paper.has_open_source | default: false | jsonify | replace: '<', '\u003c' | replace: '>', '\u003e' | replace: '&', '\u0026' }},
        "summary_zh": {{ detail_paper.summary_zh | jsonify | replace: '<', '\u003c' | replace: '>', '\u003e' | replace: '&', '\u0026' }},
        "scenes": {{ detail_paper.explainer_scenes | jsonify | replace: '<', '\u003c' | replace: '>', '\u003e' | replace: '&', '\u0026' }},
        "video_seconds": {{ detail_paper.video_seconds | jsonify | replace: '<', '\u003c' | replace: '>', '\u003e' | replace: '&', '\u0026' }}
      }
{%- endif -%}
{%- endfor -%}
    }</script>

    <div id="search-no-results" class="search-no-results" role="status" data-en="No notes match that search. Try an abbreviation such as PPO, or an arXiv ID such as 1707.06347." data-zh="没有找到匹配的笔记。试试英文缩写（如 PPO）或 arXiv 编号（如 1707.06347）。">No notes match that search. Try an abbreviation such as PPO, or an arXiv ID such as 1707.06347.</div>

{% comment %} First try _data/papers.json (generated by prepare script) {% endcomment %}
{% if site.data.papers %}
  {% assign fold_limit = 5 %}
  {% assign fold_exempt_keys = "01_Foundational_RL,02_Motion_Retargeting,03_High_Impact_Selection" | split: "," %}

  {% for cat in site.data.papers %}
    {% assign cat_key = cat[0] %}
    {% assign cat_data = cat[1] %}

    <div class="category-section" data-category="{{ cat_data.display_name | escape }}">
      {% assign cat_papers_size = cat_data.papers | size %}
      {% assign main_total = cat_papers_size %}
      {% if cat_data.subcategories %}
        {% for subcat in cat_data.subcategories %}
          {% assign subcat_papers_size = subcat.papers | size %}
          {% assign main_total = main_total | plus: subcat_papers_size %}
        {% endfor %}
      {% endif %}
        <h2 class="category-title" id="cat-{{ forloop.index }}"><span class="cat-index" aria-hidden="true">{{ cat_key | slice: 0, 2 }}</span> <span class="cat-name" data-en="{{ cat_data.display_name | escape }}" data-zh="{{ cat_data.zhname | escape }}">{{ cat_data.display_name | escape }}</span> <span class="paper-count">({{ main_total }})</span></h2>
      {% if cat_data.subtitle %}<p class="category-subtitle" data-en="{{ cat_data.subtitle | escape }}" data-zh="{{ cat_data.subtitle_zh | escape }}">{{ cat_data.subtitle | escape }}</p>{% endif %}
      {% if cat_data.sort_order_hint %}<p class="category-sort-hint" data-en="{{ cat_data.sort_order_hint | escape }}" data-zh="{{ cat_data.sort_order_hint_zh | escape }}">{{ cat_data.sort_order_hint | escape }}</p>{% endif %}

      {% if cat_data.subcategories %}
        {% if cat_data.papers.size > 0 %}
        <ul class="paper-list">
          {% for paper in cat_data.papers %}
          <li data-search="{{ paper.title | escape }} {{ paper.zhname | escape }} {{ paper.arxiv | escape }}">
            {% include paper-card.html paper=paper %}
          </li>
          {% endfor %}
        </ul>
        {% endif %}

        {% for subcat in cat_data.subcategories %}
        <div class="subcategory-section" data-subcategory="{{ subcat.name | escape }}">
          <h3 class="subcategory-title" id="subcat-{{ forloop.parentloop.index }}-{{ forloop.index }}">
            <span class="subcat-name" data-en="{{ subcat.name | escape }}" data-zh="{{ subcat.zhname | escape }}">{{ subcat.name | escape }}</span>
            <span class="paper-count">({{ subcat.papers | size }})</span>
          </h3>
          {% if subcat.sort_order_hint %}<p class="subcategory-sort-hint" data-en="{{ subcat.sort_order_hint | escape }}" data-zh="{{ subcat.sort_order_hint_zh | escape }}">{{ subcat.sort_order_hint | escape }}</p>{% endif %}
          {% if subcat.papers.size > 0 %}
          <ul class="paper-list">
            {% for paper in subcat.papers %}
            <li data-search="{{ paper.title | escape }} {{ paper.zhname | escape }} {{ paper.arxiv | escape }}">
              {% include paper-card.html paper=paper %}
            </li>
            {% endfor %}
          </ul>
          {% else %}
          <p class="empty-hint" data-en="No notes in this section yet." data-zh="这个分类还没有笔记。">No notes in this section yet.</p>
          {% endif %}
        </div>
        {% endfor %}
      {% elsif cat_data.papers.size > 0 %}
      {% assign fold_exempt = false %}
      {% for exempt_key in fold_exempt_keys %}
        {% if cat_key == exempt_key %}
          {% assign fold_exempt = true %}
        {% endif %}
      {% endfor %}
      {% assign should_fold = false %}
      {% unless fold_exempt %}
        {% if cat_data.papers.size > fold_limit %}
          {% assign should_fold = true %}
          {% assign fold_hidden = cat_data.papers.size | minus: fold_limit %}
        {% endif %}
      {% endunless %}
      <ul class="paper-list{% if should_fold %} has-paper-fold is-folded{% endif %}"{% if should_fold %} data-fold-id="cat-{{ forloop.index }}-papers" data-fold-step="{{ fold_limit }}" data-fold-initial="{{ fold_limit }}"{% endif %}>
        {% for paper in cat_data.papers %}
        <li{% if should_fold and forloop.index > fold_limit %} class="paper-list-item-folded"{% endif %} data-search="{{ paper.title | escape }} {{ paper.zhname | escape }} {{ paper.arxiv | escape }}">
          {% include paper-card.html paper=paper %}
        </li>
        {% endfor %}
      </ul>
      {% if should_fold %}
      <div class="paper-list-toggle-group" data-fold-id="cat-{{ forloop.index }}-papers">
        <button type="button" class="paper-list-toggle-btn paper-list-more-btn" data-fold-id="cat-{{ forloop.index }}-papers"
          data-en="Show {{ fold_limit }} more ▾"
          data-zh="再展开 {{ fold_limit }} 篇 ▾">Show {{ fold_limit }} more ▾</button>
        <button type="button" class="paper-list-toggle-btn paper-list-all-btn" data-fold-id="cat-{{ forloop.index }}-papers"
          data-en="Show all {{ fold_hidden }} notes ▾"
          data-zh="展开全部 {{ fold_hidden }} 篇 ▾">Show all {{ fold_hidden }} notes ▾</button>
        <button type="button" class="paper-list-toggle-btn paper-list-collapse-btn" data-fold-id="cat-{{ forloop.index }}-papers"
          data-en="Collapse to {{ fold_limit }} ▴"
          data-zh="收起到 {{ fold_limit }} 篇 ▴"
          hidden>Collapse to {{ fold_limit }} ▴</button>
      </div>
      {% endif %}
      {% else %}
      <p class="empty-hint" data-en="No notes in this section yet." data-zh="这个分类还没有笔记。">No notes in this section yet.</p>
      {% endif %}
    </div>
  {% endfor %}

{% else %}
  {% comment %} Fallback: iterate site.pages directly {% endcomment %}
  {% assign paper_pages = site.pages | where_exp: "p", "p.url contains '/papers/'" | sort: "url" %}

  {% assign current_cat = "" %}
  {% for page in paper_pages %}
    {% assign parts = page.url | split: "/" %}
    {% if parts.size >= 4 %}
      {% assign cat = parts[2] | replace: "_", " " | remove_first: "01 " | remove_first: "02 " | remove_first: "03 " | remove_first: "04 " | remove_first: "05 " | remove_first: "06 " | remove_first: "07 " | remove_first: "08 " | remove_first: "09 " | remove_first: "10 " | remove_first: "11 " | remove_first: "12 " | remove_first: "13 " %}
      {% if cat != current_cat %}
        {% unless current_cat == "" %}</ul></div>{% endunless %}
        <div class="category-section">
          <h2 class="category-title">{{ cat | escape }}</h2>
          <ul class="paper-list">
        {% assign current_cat = cat %}
      {% endif %}
      <li data-search="{{ page.title | escape }}">
        <a href="{{ page.url | relative_url | escape }}" class="paper-card">
          <span class="paper-title">{% if page.title %}{{ page.title | escape }}{% else %}{{ parts[3] | replace: "_", " " | escape }}{% endif %}</span>
        </a>
      </li>
    {% endif %}
  {% endfor %}
  {% unless current_cat == "" %}</ul></div>{% endunless %}
{% endif %}

  </div>
</div>

<script>
(function() {
  var searchInput = document.getElementById('paper-search');
  var noResults = document.getElementById('search-no-results');
  var categories = document.querySelectorAll('.category-section');
  var paperItems = document.querySelectorAll('.paper-list li[data-search]');

  // ⚡ Bolt Optimization: Cache DOM structure and search text once on page load to prevent expensive `querySelectorAll` and `getAttribute` during typing
  var cachedCategories = Array.from(categories).map(function(cat) {
    var catTitle = cat.querySelector('.category-title');
    var catTocItem = catTitle ? document.querySelector('.toc-item[data-toc-for="' + catTitle.id + '"]') : null;

    var subcategories = Array.from(cat.querySelectorAll('.subcategory-section')).map(function(subcat) {
      var subcatTitle = subcat.querySelector('.subcategory-title');
      var subcatTocItem = subcatTitle ? document.querySelector('.toc-item[data-toc-for="' + subcatTitle.id + '"]') : null;
      var items = Array.from(subcat.querySelectorAll('li[data-search]')).map(function(item) {
        return { el: item, text: item.getAttribute('data-search').toLowerCase() };
      });
      return { el: subcat, tocItem: subcatTocItem, items: items };
    });

    // Handle polyfill for :scope if needed, but for our case, children match is safer.
    // Instead of using :scope > .paper-list > li[data-search], we select .paper-list > li[data-search]
    // that are direct children of the category-section (not inside subcategories)
    var directItems = [];
    var directLists = cat.children;
    for (var i = 0; i < directLists.length; i++) {
      if (directLists[i].classList.contains('paper-list')) {
        var items = directLists[i].querySelectorAll('li[data-search]');
        for (var j = 0; j < items.length; j++) {
          directItems.push({ el: items[j], text: items[j].getAttribute('data-search').toLowerCase() });
        }
      }
    }

    return {
      el: cat,
      tocItem: catTocItem,
      subcategories: subcategories,
      directItems: directItems
    };
  });

  var roadmapTocItem = document.querySelector('.toc-item[data-toc-for="roadmap-title"]');

  var searchTimeout;
  var FOLD_PREFIX = 'paper-fold:';
  var foldLists = Array.from(document.querySelectorAll('.paper-list.has-paper-fold[data-fold-id]'));
  var foldStateBeforeSearch = null;

  function getLang() {
    return document.documentElement.getAttribute('data-lang-mode') === 'zh' ? 'zh' : 'en';
  }

  function getFoldedItems(list) {
    return Array.from(list.querySelectorAll('li.paper-list-item-folded'));
  }

  function getVisibleCount(list) {
    return list.querySelectorAll('li[data-search]').length - getFoldedItems(list).length;
  }

  function getFoldGroup(foldId) {
    return document.querySelector('.paper-list-toggle-group[data-fold-id="' + foldId + '"]');
  }

  function updateFoldLabels(group, hiddenCount, step, initial) {
    var moreBtn = group.querySelector('.paper-list-more-btn');
    var allBtn = group.querySelector('.paper-list-all-btn');
    var collapseBtn = group.querySelector('.paper-list-collapse-btn');
    var useZh = getLang() === 'zh';
    var moreCount = Math.min(step, hiddenCount);
    if (moreBtn) {
      moreBtn.textContent = useZh
        ? '再展开 ' + moreCount + ' 篇 ▾'
        : 'Show ' + moreCount + ' more ▾';
    }
    if (allBtn) {
      allBtn.textContent = useZh
        ? '展开全部 ' + hiddenCount + ' 篇 ▾'
        : 'Show all ' + hiddenCount + ' notes ▾';
    }
    if (collapseBtn) {
      collapseBtn.textContent = useZh
        ? '收起到 ' + initial + ' 篇 ▴'
        : 'Collapse to ' + initial + ' ▴';
    }
  }

  function updateFoldUI(list, persist) {
    var foldId = list.getAttribute('data-fold-id');
    var group = getFoldGroup(foldId);
    var hiddenCount = getFoldedItems(list).length;
    var step = parseInt(list.getAttribute('data-fold-step') || '5', 10);
    var initial = parseInt(list.getAttribute('data-fold-initial') || '5', 10);
    var visibleCount = getVisibleCount(list);
    var expandedBeyondDefault = visibleCount > initial;

    if (hiddenCount === 0) {
      list.classList.remove('is-folded');
    } else {
      list.classList.add('is-folded');
    }

    if (!group) return;

    var moreBtn = group.querySelector('.paper-list-more-btn');
    var allBtn = group.querySelector('.paper-list-all-btn');
    var collapseBtn = group.querySelector('.paper-list-collapse-btn');

    group.style.display = '';
    if (moreBtn) moreBtn.hidden = hiddenCount === 0;
    if (allBtn) allBtn.hidden = hiddenCount === 0;
    if (collapseBtn) collapseBtn.hidden = !expandedBeyondDefault;

    updateFoldLabels(group, hiddenCount, step, initial);

    if (persist && foldId) {
      try {
        localStorage.setItem(FOLD_PREFIX + foldId, String(visibleCount));
      } catch (e) {}
    }
  }

  function applyVisibleCount(list, targetVisible, persist) {
    var items = Array.from(list.querySelectorAll('li[data-search]'));
    var initial = parseInt(list.getAttribute('data-fold-initial') || '5', 10);
    var target = Math.max(initial, Math.min(items.length, targetVisible));
    items.forEach(function(li, idx) {
      if (idx < target) li.classList.remove('paper-list-item-folded');
      else li.classList.add('paper-list-item-folded');
    });
    updateFoldUI(list, persist);
  }

  foldLists.forEach(function(list) {
    var foldId = list.getAttribute('data-fold-id');
    var group = getFoldGroup(foldId);
    if (!group) return;

    var saved = null;
    try {
      saved = localStorage.getItem(FOLD_PREFIX + foldId);
    } catch (e) {}
    if (saved === 'true') {
      applyVisibleCount(list, list.querySelectorAll('li[data-search]').length, false);
    } else if (saved && saved !== 'false') {
      var target = parseInt(saved, 10);
      if (!isNaN(target)) applyVisibleCount(list, target, false);
      else updateFoldUI(list, false);
    } else {
      updateFoldUI(list, false);
    }

    var moreBtn = group.querySelector('.paper-list-more-btn');
    var allBtn = group.querySelector('.paper-list-all-btn');
    var collapseBtn = group.querySelector('.paper-list-collapse-btn');
    if (moreBtn) {
      moreBtn.addEventListener('click', function() {
        var step = parseInt(list.getAttribute('data-fold-step') || '5', 10);
        applyVisibleCount(list, getVisibleCount(list) + step, true);
      });
    }
    if (allBtn) {
      allBtn.addEventListener('click', function() {
        applyVisibleCount(list, list.querySelectorAll('li[data-search]').length, true);
      });
    }
    if (collapseBtn) {
      collapseBtn.addEventListener('click', function() {
        var initial = parseInt(list.getAttribute('data-fold-initial') || '5', 10);
        applyVisibleCount(list, initial, true);
      });
    }
  });

  document.addEventListener('cl-lang-changed', function() {
    foldLists.forEach(function(list) {
      var foldId = list.getAttribute('data-fold-id');
      var group = getFoldGroup(foldId);
      if (!group) return;
      var step = parseInt(list.getAttribute('data-fold-step') || '5', 10);
      var initial = parseInt(list.getAttribute('data-fold-initial') || '5', 10);
      updateFoldLabels(group, getFoldedItems(list).length, step, initial);
    });
  });

  function setSearchFoldMode(active) {
    if (active) {
      if (foldStateBeforeSearch) return;
      foldStateBeforeSearch = new Map();
      foldLists.forEach(function(list) {
        var id = list.getAttribute('data-fold-id');
        foldStateBeforeSearch.set(id, getVisibleCount(list));
        list.classList.remove('is-folded');
      });
      document.body.classList.add('index-search-active');
      return;
    }
    if (!foldStateBeforeSearch) return;
    foldLists.forEach(function(list) {
      var id = list.getAttribute('data-fold-id');
      applyVisibleCount(list, foldStateBeforeSearch.get(id), false);
    });
    foldStateBeforeSearch = null;
    document.body.classList.remove('index-search-active');
  }

  function resetAllItemDisplays() {
    cachedCategories.forEach(function(catCache) {
      catCache.subcategories.forEach(function(subcatCache) {
        subcatCache.items.forEach(function(itemCache) {
          if (itemCache.el.style.display === 'none') itemCache.el.style.removeProperty('display');
        });
        if (subcatCache.el.style.display === 'none') subcatCache.el.style.removeProperty('display');
      });
      catCache.directItems.forEach(function(itemCache) {
        if (itemCache.el.style.display === 'none') itemCache.el.style.removeProperty('display');
      });
      if (catCache.el.style.display === 'none') catCache.el.style.removeProperty('display');
    });
  }

  function runSearch() {
    if (!searchInput) return;
    var query = searchInput.value.toLowerCase().trim();
    var hasAnyMatch = false;
    var isSearching = query !== '';

    setSearchFoldMode(isSearching);

    if (!isSearching) {
      resetAllItemDisplays();
    }

    if (roadmapTocItem) {
      var targetRoadmapDisplay = query === '' ? '' : 'none';
      if (roadmapTocItem.style.display !== targetRoadmapDisplay) roadmapTocItem.style.display = targetRoadmapDisplay;
    }

    cachedCategories.forEach(function(catCache) {
      var catHasMatch = false;
      var catTotalMatch = 0;

      catCache.subcategories.forEach(function(subcatCache) {
        var subcatHasMatch = false;
        var subcatMatchCount = 0;

        subcatCache.items.forEach(function(itemCache) {
          if (!isSearching || itemCache.text.indexOf(query) !== -1) {
            // ⚡ Bolt Optimization: Strict diff-check to prevent layout thrashing
            if (itemCache.el.style.display === 'none') itemCache.el.style.removeProperty('display');
            if (isSearching) {
              subcatHasMatch = true;
              subcatMatchCount++;
              catHasMatch = true;
              hasAnyMatch = true;
            }
          } else {
            // ⚡ Bolt Optimization: Strict diff-check to prevent layout thrashing
            if (itemCache.el.style.display !== 'none') itemCache.el.style.display = 'none';
          }
        });

        var targetSubcatDisplay = subcatHasMatch || query === '' ? '' : 'none';
        if (subcatCache.el.style.display !== targetSubcatDisplay) subcatCache.el.style.display = targetSubcatDisplay;
        if (subcatCache.tocItem) {
          if (subcatCache.tocItem.style.display !== targetSubcatDisplay) subcatCache.tocItem.style.display = targetSubcatDisplay;
          var countEl = subcatCache.tocItem.querySelector('.toc-count');
          if (countEl) {
            if (countEl.dataset.origCount === undefined) countEl.dataset.origCount = countEl.textContent;
            var targetText = isSearching ? '(' + subcatMatchCount + ')' : countEl.dataset.origCount;
            if (countEl.textContent !== targetText) countEl.textContent = targetText;
          }
        }
        if (isSearching) catTotalMatch += subcatMatchCount;
      });

      var directMatchCount = 0;
      catCache.directItems.forEach(function(itemCache) {
        if (!isSearching || itemCache.text.indexOf(query) !== -1) {
          // ⚡ Bolt Optimization: Strict diff-check to prevent layout thrashing
          if (itemCache.el.style.display === 'none') itemCache.el.style.removeProperty('display');
          if (isSearching) {
            catHasMatch = true;
            hasAnyMatch = true;
            directMatchCount++;
          }
        } else {
          // ⚡ Bolt Optimization: Strict diff-check to prevent layout thrashing
          if (itemCache.el.style.display !== 'none') itemCache.el.style.display = 'none';
        }
      });
      if (isSearching) catTotalMatch += directMatchCount;

      var targetCatDisplay = catHasMatch || query === '' ? '' : 'none';
      if (catCache.el.style.display !== targetCatDisplay) catCache.el.style.display = targetCatDisplay;
      if (catCache.tocItem) {
        if (catCache.tocItem.style.display !== targetCatDisplay) catCache.tocItem.style.display = targetCatDisplay;
        var countEl = catCache.tocItem.querySelector('.toc-count');
        if (countEl) {
          if (countEl.dataset.origCount === undefined) countEl.dataset.origCount = countEl.textContent;
          var targetText = isSearching ? '(' + catTotalMatch + ')' : countEl.dataset.origCount;
          if (countEl.textContent !== targetText) countEl.textContent = targetText;
        }
      }
    });

    if (noResults) {
      var targetNoResultsDisplay = hasAnyMatch || query === '' ? 'none' : 'block';
      if (noResults.style.display !== targetNoResultsDisplay) noResults.style.display = targetNoResultsDisplay;
    }
  }

  if (searchInput) {
    searchInput.addEventListener('input', function(e) {
      if (e.isComposing) return;
      clearTimeout(searchTimeout);
      searchTimeout = setTimeout(runSearch, 150);
    });
    searchInput.addEventListener('compositionend', function() {
      clearTimeout(searchTimeout);
      searchTimeout = setTimeout(runSearch, 0);
    });
  }

  var sidebar = document.getElementById('toc-sidebar');
  if (!sidebar) return;
  var links = sidebar.querySelectorAll('.toc-link');
  var targets = [];
  links.forEach(function(a) {
    var id = a.getAttribute('href').slice(1);
    var el = document.getElementById(id);
    if (el) targets.push({ link: a, el: el });
  });
  if (targets.length === 0) return;

  var lastActive = -1;
  // ⚡ Bolt Optimization: Cache layout positions to prevent layout thrashing on scroll
  var cachedPositions = [];

  function updatePositions() {
    cachedPositions = targets.map(function(t) {
      return t.el.getBoundingClientRect().top + window.scrollY;
    });
  }

  updatePositions();

  if (window.ResizeObserver) {
    var ro = new ResizeObserver(updatePositions);
    ro.observe(document.body);
  } else {
    window.addEventListener('resize', function() {
      clearTimeout(window.resizeTimeout);
      window.resizeTimeout = setTimeout(updatePositions, 150);
    });
  }

  function updateActive() {
    // Probe just below the sticky header so the link reflects whatever
    // section is currently anchored at the top of the viewport.
    var probeY = 140;
    var current = -1;
    var scrollThreshold = window.scrollY + probeY;

    for (var i = 0; i < cachedPositions.length; i++) {
      if (cachedPositions[i] <= scrollThreshold) current = i;
    }

    // Only update DOM if the active section actually changed
    if (current !== lastActive) {
      // ⚡ Bolt Optimization: O(1) targeted DOM class toggling instead of O(N) loop
      if (lastActive >= 0 && targets[lastActive]) {
        targets[lastActive].link.classList.remove('active');
      }
      if (current >= 0 && targets[current]) {
        targets[current].link.classList.add('active');
      }
      lastActive = current;
    }
  }

  var ticking = false;
  // ⚡ Bolt Optimization: Throttle scroll event listener using requestAnimationFrame to prevent multiple calls per frame
  window.addEventListener('scroll', function() {
    if (!ticking) {
      window.requestAnimationFrame(function() {
        updateActive();
        ticking = false;
      });
      ticking = true;
    }
  });
  updateActive();
})();
</script>