update links and highlights

app/scripts/latex-to-markdown/input/sections/01_introduction.tex

@@ -32,7 +32,7 @@ This tutorial is structured as follows:
 \begin{itemize}
 \item Section~\ref{sec:classical} reviews classical robotics foundations, introducing the limitations of dynamics-based approaches to robotics.
 \item Section~\ref{sec:learning-rl} elaborates on the limitations of dynamics-based methods, and introduce RL as a practical approach to solve robotics problems, considering its upsides and potential limitations.
-\item Section~\ref{sec:learning-imitation} further describes robot learning techniques that aim at solving single-tasks learning, leveraging BC techniques to autonomously reproduce specific expert demonstrations.
+\item Section~\ref{sec:robot-imitation-learning} further describes robot learning techniques that aim at solving single-tasks learning, leveraging BC techniques to autonomously reproduce specific expert demonstrations.
 \item Section~\ref{sec:learning-foundation} presents recent contributions on developing generalist models for robotics applications, by learning from large corpora of multi-task \& multi-robot data (\emph{robotics foundation models}).
 % \item Lastly, Section~\ref{sec:extensions} covers emerging directions in robot learning research, introducing recent works in post-training techniques for robotics foundation models, as well as recent works in world models for robotics.
 \end{itemize}

app/scripts/latex-to-markdown/input/sections/04_imitation_learning.tex

@@ -1,5 +1,5 @@
 \section{Robot (Imitation) Learning}
-\label{sec:learning-imitation}
+\label{sec:robot-imitation-learning}
 
 \epigraph{\emph{The best material model for a cat is another, or preferably the same cat}}{Norbert Wiener}
 

app/scripts/latex-to-markdown/latex-converter.mjs

@@ -233,7 +233,7 @@ export function convertLatexToMarkdown(inputFile, outputDir) {
         ensureDirectory(mediaDir);
         const inputDir = dirname(inputFile);
         const equationFilterPath = join(__dirname, 'filters', 'equation-ids.lua');
-        const pandocCommand = `pandoc "${preprocessedFile}" -f latex+latex_macros -t gfm+tex_math_dollars --shift-heading-level-by=1 --wrap=none ${bibOption} --extract-media="${mediaDir}" --resource-path="${inputDir}" --lua-filter="${equationFilterPath}" -o "${outputFile}"`;
+        const pandocCommand = `pandoc "${preprocessedFile}" -f latex+latex_macros -t gfm+tex_math_dollars+raw_html --shift-heading-level-by=1 --wrap=none ${bibOption} --extract-media="${mediaDir}" --resource-path="${inputDir}" --lua-filter="${equationFilterPath}" -o "${outputFile}"`;
 
         console.log(`   Running: ${pandocCommand}`);
         execSync(pandocCommand, { stdio: 'pipe' });

app/scripts/latex-to-markdown/mdx-converter.mjs

@@ -323,6 +323,56 @@ function transformStyledSpans(content) {
  * @param {string} content - MDX content
  * @returns {string} - Content with transformed links
  */
+function fixHtmlEscaping(content) {
+    console.log('  🔧 Fixing HTML escaping in spans...');
+
+    let fixedCount = 0;
+
+    // Fix escaped HTML in anchor spans with various escaping patterns
+    // Pattern 1: \<span id="..." style="..."\>\</span\>
+    content = content.replace(/\\<span id="([^"]*)" style="([^"]*)"\\>\\<\/span\\>/g, (match, id, style) => {
+        fixedCount++;
+        // Fix common style issues like "position- absolute;" -> "position: absolute;"
+        const cleanStyle = style.replace('position- absolute;', 'position: absolute;');
+        return `<span id="${id}" style="${cleanStyle}"></span>`;
+    });
+
+    // Pattern 2: \<span class="..."\>...\</span\>
+    content = content.replace(/\\<span class="([^"]*)"\\>([^\\]+)\\<\/span\\>/g, (match, className, text) => {
+        fixedCount++;
+        // Remove numbering like (1), (2), (3) from highlight spans
+        let cleanText = text;
+        if (className === 'highlight') {
+            cleanText = text.replace(/^\(\d+\)\s*/, '');
+        }
+        return `<span class="${className}">${cleanText}</span>`;
+    });
+
+
+    if (fixedCount > 0) {
+        console.log(`    ✅ Fixed ${fixedCount} escaped span(s)`);
+    }
+
+    return content;
+}
+
+function cleanHighlightNumbering(content) {
+    console.log('  🔢 Removing numbering from highlight spans...');
+
+    let cleanedCount = 0;
+    // Clean numbering from non-escaped highlight spans too
+    content = content.replace(/<span class="highlight">(\(\d+\)\s*)([^<]+)<\/span>/g, (match, numbering, text) => {
+        cleanedCount++;
+        return `<span class="highlight">${text}</span>`;
+    });
+
+    if (cleanedCount > 0) {
+        console.log(`    ✅ Removed numbering from ${cleanedCount} highlight span(s)`);
+    }
+
+    return content;
+}
+
 function transformReferenceLinks(content) {
     console.log('  🔗 Transforming reference links...');
 
@@ -543,6 +593,8 @@ function processMdxContent(content, latexContent = '') {
     processedContent = transformImages(processedContent);
     processedContent = transformStyledSpans(processedContent);
     processedContent = transformReferenceLinks(processedContent);
+    processedContent = fixHtmlEscaping(processedContent);
+    processedContent = cleanHighlightNumbering(processedContent);
     processedContent = cleanFigcaptionNewlines(processedContent);
 
     // Add component imports at the end

app/scripts/latex-to-markdown/old-latex-converter/README.md

@@ -1,107 +0,0 @@
-# Convertisseur LaTeX vers Markdown
-
-Conversion robuste de projets LaTeX complexes vers Markdown/MDX pour Astro.
-
-## 🚀 Usage rapide
-
-```bash
-# Conversion standard
-node scripts/latex-converter/index.mjs
-
-# Avec nettoyage du dossier de sortie
-node scripts/latex-converter/index.mjs --clean
-
-# Chemins personnalisés
-node scripts/latex-converter/index.mjs \
-  --input=../tools/latex-to-markdown/input \
-  --output=src/content \
-  --clean
-```
-
-## 📁 Architecture
-
-```
-scripts/latex-converter/
-├── index.mjs              # Point d'entrée principal
-├── config.mjs             # Configuration et mappings
-├── preprocessor.mjs       # Préprocesseur LaTeX
-├── bibliography-cleaner.mjs # Nettoyeur de bibliographie
-├── converter.mjs          # Convertisseur principal
-└── README.md             # Documentation
-```
-
-## 🔧 Fonctionnalités
-
-### ✅ Ce qui est géré
-- **412+ commandes personnalisées** (math, text, projet-spécifique)
-- **Environnements custom** (`tldr`, `callout`, `finding`)
-- **41 figures** avec organisation par chapitre
-- **2247 entrées bibliographiques** avec nettoyage automatique
-- **Citations** et références croisées
-- **Structure MDX** compatible Astro
-
-### 🛠️ Transformations automatiques
-
-#### Commandes LaTeX → Markdown
-```latex
-\lerobot          → **LeRobot**
-\lerobotdataset   → `LeRobotDataset`
-\huggingface      → 🤗 **Hugging Face**
-\eg               → e.g.,
-\X                → \mathcal{X}
-```
-
-#### Environnements → Callouts
-```latex
-\begin{tldr}
-Content here
-\end{tldr}
-```
-→
-```markdown
-> **TL;DR**
-> Content here
-```
-
-#### Bibliographie
-- `{{Title}}` → `Title` (suppression doubles accolades)
-- `\&` → `&` (déséchappement)
-- Nettoyage général du formatting
-
-## 📊 Statistiques exemple
-
-```
-⏱️  Time: 1.02s
-📄 Files: 9 sections converties
-🖼️  Figures: 41 images copiées
-📚 Citations: Detection automatique
-🔧 Commands replaced: 34 transformations
-📦 Environments processed: 4 environnements
-📚 Bibliography: 159 entries, 403 fixes
-```
-
-## 🎯 Résultat
-
-Structure finale dans `src/content/`:
-```
-src/content/
-├── article.mdx           # Article principal avec imports
-├── bibliography.bib     # Bibliographie nettoyée
-├── chapters/            # Sections converties
-│   ├── 00_abstract.mdx
-│   ├── 01_introduction.mdx
-│   └── ...
-└── assets/image/        # Figures organisées
-    ├── ch1/
-    ├── ch2/
-    └── ...
-```
-
-## ⚠️ Prérequis
-
-- **Pandoc** installé (`brew install pandoc`)
-- Node.js avec support ESM
-
-## 🔍 Debugging
-
-Les warnings sont normaux pour les sections avec math complexe non supporté par Pandoc. Le convertisseur continue et produit un résultat utilisable.

app/scripts/latex-to-markdown/old-latex-converter/bibliography-cleaner.mjs

@@ -1,123 +0,0 @@
-/**
- * Nettoyeur de bibliographie - Corrige les doubles accolades et problèmes de formatting
- */
-
-export class BibliographyCleaner {
-    constructor() {
-        this.stats = {
-            entriesProcessed: 0,
-            doubleAccoladesFixed: 0,
-            escapedCharsFixed: 0,
-            mathExpressionsFixed: 0
-        };
-    }
-
-    cleanContent(content) {
-        let cleaned = content;
-
-        // Count entries
-        this.stats.entriesProcessed = (content.match(/@\w+\{/g) || []).length;
-
-        // Fix double accolades
-        cleaned = this.fixDoubleAccolades(cleaned);
-
-        // Fix escaped characters
-        cleaned = this.fixEscapedCharacters(cleaned);
-
-        // Fix malformed math expressions
-        cleaned = this.fixMathExpressions(cleaned);
-
-        // General cleanup
-        cleaned = this.generalCleanup(cleaned);
-
-        return cleaned;
-    }
-
-    fixDoubleAccolades(content) {
-        let fixed = content;
-        let fixCount = 0;
-
-        fixed = fixed.replace(/\{\{([^}]+)\}\}/g, (match, inner) => {
-            fixCount++;
-
-            // Keep accolades for important terms
-            if (/^[A-Z][A-Z0-9]*$/.test(inner) || // Acronyms like "API", "ML"
-                /^[A-Z][a-z]*(?:\s+[A-Z][a-z]*)*$/.test(inner) || // Proper nouns
-                inner.includes('++') || // Languages like "C++"
-                inner.includes('$') // Math
-            ) {
-                return `{${inner}}`;
-            }
-
-            return inner;
-        });
-
-        this.stats.doubleAccoladesFixed = fixCount;
-        return fixed;
-    }
-
-    fixEscapedCharacters(content) {
-        let fixed = content;
-        let fixCount = 0;
-
-        const replacements = [
-            [/\\&/g, '&'],
-            [/\\\$/g, '$'],
-            [/\\%/g, '%'],
-            [/\\#/g, '#'],
-            [/\\_/g, '_']
-        ];
-
-        for (const [pattern, replacement] of replacements) {
-            const matches = fixed.match(pattern);
-            if (matches) {
-                fixCount += matches.length;
-                fixed = fixed.replace(pattern, replacement);
-            }
-        }
-
-        this.stats.escapedCharsFixed = fixCount;
-        return fixed;
-    }
-
-    fixMathExpressions(content) {
-        let fixed = content;
-        let fixCount = 0;
-
-        // Fix specific problematic patterns
-        const mathFixes = [
-            // ${$\pi_$}0$ → $\pi_0$
-            [/\$\{\$\\pi_\$\}([0-9]+)\$/g, '$\\pi_$1$'],
-            // ${$something$}text$ → $something_text$
-            [/\$\{\$([^}]+)\$\}([^$]*)\$/g, '$$$1_$2$$'],
-            // Fix other malformed patterns
-            [/\$\{([^}]+)\}\$/g, '$$$1$$'],
-            [/\$([^$]*)\\\$([^$]*)\$/g, '$$$1$2$$']
-        ];
-
-        for (const [pattern, replacement] of mathFixes) {
-            const matches = fixed.match(pattern);
-            if (matches) {
-                fixCount += matches.length;
-                fixed = fixed.replace(pattern, replacement);
-            }
-        }
-
-        this.stats.mathExpressionsFixed = fixCount;
-        return fixed;
-    }
-
-    generalCleanup(content) {
-        let cleaned = content;
-
-        // Normalize whitespace
-        cleaned = cleaned.replace(/\n{3,}/g, '\n\n');
-        cleaned = cleaned.trim() + '\n';
-
-        return cleaned;
-    }
-
-    getStats() {
-        return this.stats;
-    }
-}

app/scripts/latex-to-markdown/old-latex-converter/config.mjs

@@ -1,59 +0,0 @@
-/**
- * Configuration et mappings pour la conversion LaTeX vers Markdown
- */
-
-export const COMMAND_MAPPINGS = {
-    // Math shortcuts
-    'X': '\\mathcal{X}',
-    'Z': '\\mathcal{Z}',
-    'G': '\\mathcal{G}',
-    'D': '\\mathcal{D}',
-    'F': '\\mathcal{F}',
-    'R': '\\mathcal{R}',
-
-    // Text commands
-    'eg': 'e.g.,',
-    'ie': 'i.e.,',
-    'versus': 'vs.',
-    'wrt': 'w.r.t.',
-    'etc': 'etc.',
-
-    // Project-specific
-    'lerobot': '**LeRobot**',
-    'lerobotdataset': '`LeRobotDataset`',
-    'huggingface': '🤗 **Hugging Face**',
-
-    // Functions
-    'qfunction': 'Q-function',
-    'qopt': 'Q^*'
-};
-
-export const ENVIRONMENT_MAPPINGS = {
-    'tldr': {
-        start: '> **TL;DR**\n> ',
-        end: '\n',
-        type: 'callout'
-    },
-    'callout': {
-        start: '> **Note**\n> ',
-        end: '\n',
-        type: 'callout'
-    },
-    'finding': {
-        start: '> **🔍 Finding**: ',
-        end: '\n',
-        type: 'finding'
-    }
-};
-
-export const PANDOC_OPTIONS = [
-    '--from=latex',
-    '--to=markdown',
-    '--wrap=preserve',
-    '--markdown-headings=atx'
-];
-
-export const DEFAULT_PATHS = {
-    input: '../tools/latex-to-markdown/input',
-    output: 'src/content'
-};

app/scripts/latex-to-markdown/old-latex-converter/converter.mjs

@@ -1,456 +0,0 @@
-/**
- * Convertisseur principal LaTeX vers Markdown
- */
-
-import { spawn } from 'node:child_process';
-import { promises as fs } from 'node:fs';
-import { resolve, dirname, basename, join } from 'node:path';
-
-import { LaTeXPreprocessor } from './preprocessor.mjs';
-import { RobustLaTeXPreprocessor } from './robust-preprocessor.mjs';
-import { BibliographyCleaner } from './bibliography-cleaner.mjs';
-import { DEFAULT_PATHS, PANDOC_OPTIONS } from './config.mjs';
-
-export class LaTeXConverter {
-    constructor() {
-        this.preprocessor = new LaTeXPreprocessor();
-        this.robustPreprocessor = new RobustLaTeXPreprocessor();
-        this.bibCleaner = new BibliographyCleaner();
-        this.stats = {
-            totalFiles: 0,
-            totalFigures: 0,
-            totalCitations: 0,
-            conversionTime: 0
-        };
-        this.warnings = [];
-        this.errors = [];
-    }
-
-    async convert(inputDir, outputDir, options = {}) {
-        const startTime = Date.now();
-
-        console.log('🚀 LaTeX to Markdown Converter');
-        console.log(`📁 Input:  ${inputDir}`);
-        console.log(`📁 Output: ${outputDir}`);
-
-        try {
-            // Setup
-            await this.setupOutput(outputDir, options.clean);
-
-            // Convert sections
-            await this.convertSections(inputDir, outputDir);
-
-            // Handle assets
-            await this.handleAssets(inputDir, outputDir);
-
-            // Create main article
-            await this.createMainArticle(outputDir);
-
-            // Generate report
-            this.stats.conversionTime = Date.now() - startTime;
-            this.generateReport();
-
-            console.log('🎉 Conversion completed successfully!');
-            return true;
-
-        } catch (error) {
-            this.errors.push(`Conversion failed: ${error.message}`);
-            throw error;
-        }
-    }
-
-    async setupOutput(outputDir, clean = false) {
-        if (clean) {
-            console.log('🧹 Cleaning output directory...');
-            await fs.rm(outputDir, { recursive: true, force: true });
-        }
-
-        await fs.mkdir(outputDir, { recursive: true });
-        await fs.mkdir(join(outputDir, 'chapters'), { recursive: true });
-        await fs.mkdir(join(outputDir, 'assets', 'image'), { recursive: true });
-    }
-
-    async convertSections(inputDir, outputDir) {
-        console.log('\n📄 Converting sections...');
-
-        const sectionsDir = join(inputDir, 'sections');
-        const outputChaptersDir = join(outputDir, 'chapters');
-
-        try {
-            const files = await fs.readdir(sectionsDir);
-            const texFiles = files.filter(f => f.endsWith('.tex'));
-
-            for (const file of texFiles) {
-                const inputPath = join(sectionsDir, file);
-                const outputPath = join(outputChaptersDir, file.replace('.tex', '.mdx'));
-
-                console.log(`   Converting ${file}...`);
-                await this.convertSingleFile(inputPath, outputPath);
-            }
-
-            this.stats.totalFiles = texFiles.length;
-
-        } catch (error) {
-            this.errors.push(`Section conversion failed: ${error.message}`);
-        }
-    }
-
-    async convertSingleFile(inputPath, outputPath) {
-        try {
-            // Read and preprocess with robust preprocessor
-            let content = await fs.readFile(inputPath, 'utf-8');
-            content = this.robustPreprocessor.preprocessContent(content, basename(inputPath));
-
-            // Create temp file for Pandoc
-            const tempPath = inputPath + '.temp';
-            await fs.writeFile(tempPath, content);
-
-            // Convert with Pandoc
-            const pandocArgs = [tempPath, '-o', outputPath, ...PANDOC_OPTIONS];
-            await this.runPandoc(pandocArgs);
-
-            // Cleanup
-            await fs.unlink(tempPath);
-
-            // Post-process
-            await this.postProcessFile(outputPath);
-
-        } catch (error) {
-            this.warnings.push(`Failed to convert ${basename(inputPath)}: ${error.message}`);
-        }
-    }
-
-    async runPandoc(args) {
-        return new Promise((resolve, reject) => {
-            const child = spawn('pandoc', args, {
-                stdio: ['pipe', 'pipe', 'pipe'],
-                shell: false
-            });
-
-            let stderr = '';
-            child.stderr.on('data', (data) => {
-                stderr += data.toString();
-            });
-
-            child.on('error', reject);
-            child.on('exit', (code) => {
-                if (code === 0) {
-                    resolve();
-                } else {
-                    reject(new Error(`Pandoc failed: ${stderr}`));
-                }
-            });
-        });
-    }
-
-    fixMalformedMath(content) {
-        let fixed = content;
-
-        // Fix problematic expressions like ${$\pi_$}0$
-        fixed = fixed.replace(/\$\{\$([^$}]+)\$\}([^$]*)\$/g, '$$$1_{$2}$$');
-
-        // Fix nested math delimiters
-        fixed = fixed.replace(/\$\$([^$]*)\$([^$]*)\$([^$]*)\$\$/g, '$$$1 $2 $3$$');
-
-        // Fix incomplete math expressions
-        fixed = fixed.replace(/\$([^$]*)\{([^}]*)\$([^$]*)\$/g, '$$$1\\{$2\\}$3$$');
-
-        // Fix math with unescaped braces
-        fixed = fixed.replace(/\$([^$]*)\{([^}]*)\}([^$]*)\$/g, '$$$1\\{$2\\}$3$$');
-
-        // Fix common pi expressions
-        fixed = fixed.replace(/\$\\pi_\$([0-9]+)\$/g, '$\\pi_$1$');
-        fixed = fixed.replace(/\$\{\\pi_\}([0-9]+)\$/g, '$\\pi_$1$');
-
-        // Fix doubled dollar signs (but preserve display math)
-        fixed = fixed.replace(/\$\$\$+/g, '$$');
-
-        // Ensure proper spacing around math
-        fixed = fixed.replace(/([a-zA-Z])\$([^$]+)\$([a-zA-Z])/g, '$1 $$$2$$ $3');
-
-        return fixed;
-    }
-
-    fixMDXUrls(content) {
-        let fixed = content;
-
-        // Fix all escaped markdown that should be unescaped for MDX
-        fixed = fixed.replace(/\\\*/g, '*');
-        fixed = fixed.replace(/\\\[/g, '[');
-        fixed = fixed.replace(/\\\]/g, ']');
-        fixed = fixed.replace(/\\\(/g, '(');
-        fixed = fixed.replace(/\\\)/g, ')');
-        fixed = fixed.replace(/\\>/g, '>');
-        fixed = fixed.replace(/\\!/g, '!');
-
-        // Fix angle bracket URLs that are MDX-incompatible  
-        fixed = fixed.replace(/\*\*<(https?:\/\/[^>]+)>\*\*/g, '**[$1]($1)**');
-        fixed = fixed.replace(/<(https?:\/\/[^>]+)>/g, '[$1]($1)');
-
-        // Fix malformed math expressions with escaped braces 
-        fixed = fixed.replace(/\\\{/g, '{');
-        fixed = fixed.replace(/\\\}/g, '}');
-
-        // Escape all braces in math expressions for MDX compatibility
-        fixed = fixed.replace(/\$([^$]*)\$/g, (match, mathContent) => {
-            const escaped = mathContent.replace(/\{/g, '\\{').replace(/\}/g, '\\}');
-            return `$${escaped}$`;
-        });
-
-        fixed = fixed.replace(/\$\$([^$]*)\$\$/g, (match, mathContent) => {
-            const escaped = mathContent.replace(/\{/g, '\\{').replace(/\}/g, '\\}');
-            return `$$${escaped}$$`;
-        });
-
-        // Fix Section references that are malformed
-        fixed = fixed.replace(/Section\s+([a-zA-Z-]+:[a-zA-Z0-9-]+)\\/g, 'the referenced figure');
-        fixed = fixed.replace(/Figure\s+Section\s+([a-zA-Z-]+:[a-zA-Z0-9-]+)\\/g, 'the referenced figure');
-
-        return fixed;
-    }
-
-    async postProcessFile(filePath) {
-        try {
-            let content = await fs.readFile(filePath, 'utf-8');
-
-            // Fix common issues
-            content = content.replace(/\\\\#/g, '#');
-            content = content.replace(/\\\\!/g, '!');
-            content = content.replace(/\\\\\*/g, '*');
-
-            // Fix citations
-            content = content.replace(/\\citep\{([^}]+)\}/g, '[@$1]');
-            content = content.replace(/\\citet\{([^}]+)\}/g, '@$1');
-            content = content.replace(/\\cite\{([^}]+)\}/g, '[@$1]');
-
-            // Remove section labels from headers
-            content = content.replace(/^(#{1,6}.*?)\s*\{#[^}]+\}/gm, '$1');
-
-            // Fix complex LaTeX references like [\[sec:xxx\]](#sec:xxx){reference-type="ref" reference="sec:xxx"}
-            content = content.replace(/\[\\?\[([^\]]+)\\?\]\]\(#[^)]+\)\{[^}]*reference[^}]*\}/g, 'Section $1');
-
-            // Fix simple references [\[ref\]](#ref)
-            content = content.replace(/\[\\?\[([^\]]+)\\?\]\]\(#[^)]+\)/g, '$1');
-
-            // Fix remaining malformed references like "Section Section sec:classical\"
-            content = content.replace(/Section\s+Section\s+([^\\]+)\\/g, 'Section $1');
-            content = content.replace(/Section\s+Section\s+([^\\]+)/g, 'Section $1');
-
-            // Remove remaining LaTeX labels and references
-            content = content.replace(/\\label\{[^}]+\}/g, '');
-            content = content.replace(/\\ref\{[^}]+\}/g, '[Reference]');
-
-            // Clean up section references with colons (be more specific)
-            content = content.replace(/Section\s+sec:([a-zA-Z-]+)/g, 'the following section');
-
-            // Fix broken section references that got mangled
-            content = content.replace(/Section\s+secs[a-zA-Z]*\s+/g, 'The following section ');
-            content = content.replace(/Section\s+sec[a-zA-Z]*\s+/g, 'The following section ');
-
-            // Count citations
-            const citations = content.match(/\[@[^\]]+\]/g) || [];
-            this.stats.totalCitations += citations.length;
-
-            // Fix malformed math expressions
-            content = this.fixMalformedMath(content);
-
-            // Fix MDX-incompatible URLs (post-pandoc)
-            content = this.fixMDXUrls(content);
-
-            // Final cleanup
-            content = content.replace(/\n{3,}/g, '\n\n');
-            content = content.replace(/\\texttt\{([^}]+)\}/g, '`$1`');
-            content = content.replace(/\\textbf\{([^}]+)\}/g, '**$1**');
-            content = content.replace(/\\emph\{([^}]+)\}/g, '*$1*');
-            content = content.trim();
-
-            await fs.writeFile(filePath, content);
-
-        } catch (error) {
-            this.warnings.push(`Post-processing failed for ${basename(filePath)}: ${error.message}`);
-        }
-    }
-
-    async handleAssets(inputDir, outputDir) {
-        console.log('\n🖼️  Handling assets...');
-
-        // Copy figures
-        try {
-            const figuresInputDir = join(inputDir, 'figures');
-            const assetsOutputDir = join(outputDir, 'assets', 'image');
-
-            await this.copyDirectoryRecursive(figuresInputDir, assetsOutputDir);
-            this.stats.totalFigures = await this.countFiles(assetsOutputDir, /\.(png|jpg|jpeg|pdf|svg)$/i);
-
-            console.log(`   📊 Copied ${this.stats.totalFigures} figures`);
-        } catch (error) {
-            this.warnings.push(`Could not copy figures: ${error.message}`);
-        }
-
-        // Handle bibliography
-        try {
-            const bibPath = join(inputDir, 'main.bib');
-            const outputBibPath = join(outputDir, 'bibliography.bib');
-
-            // Copy and clean bibliography
-            let bibContent = await fs.readFile(bibPath, 'utf-8');
-            bibContent = this.bibCleaner.cleanContent(bibContent);
-            await fs.writeFile(outputBibPath, bibContent);
-
-            const bibStats = this.bibCleaner.getStats();
-            console.log(`   📚 Bibliography: ${bibStats.entriesProcessed} entries, ${bibStats.doubleAccoladesFixed} fixes, ${bibStats.mathExpressionsFixed} math fixes`);
-
-        } catch (error) {
-            this.warnings.push(`Could not handle bibliography: ${error.message}`);
-        }
-    }
-
-    async copyDirectoryRecursive(src, dest) {
-        await fs.mkdir(dest, { recursive: true });
-        const entries = await fs.readdir(src, { withFileTypes: true });
-
-        for (const entry of entries) {
-            const srcPath = join(src, entry.name);
-            const destPath = join(dest, entry.name);
-
-            if (entry.isDirectory()) {
-                await this.copyDirectoryRecursive(srcPath, destPath);
-            } else {
-                await fs.copyFile(srcPath, destPath);
-            }
-        }
-    }
-
-    async countFiles(dir, pattern) {
-        let count = 0;
-        try {
-            const entries = await fs.readdir(dir, { withFileTypes: true });
-
-            for (const entry of entries) {
-                if (entry.isDirectory()) {
-                    count += await this.countFiles(join(dir, entry.name), pattern);
-                } else if (pattern.test(entry.name)) {
-                    count++;
-                }
-            }
-        } catch {
-            // Directory doesn't exist
-        }
-
-        return count;
-    }
-
-    async createMainArticle(outputDir) {
-        console.log('\n📝 Creating main article...');
-
-        try {
-            const chaptersDir = join(outputDir, 'chapters');
-            const files = await fs.readdir(chaptersDir);
-            const mdxFiles = files.filter(f => f.endsWith('.mdx')).sort();
-
-            const frontmatter = this.generateFrontmatter();
-            const { imports, components } = this.generateChapterImports(mdxFiles);
-
-            const articleContent = frontmatter + imports + '\n\n' + components;
-
-            const articlePath = join(outputDir, 'article.mdx');
-            await fs.writeFile(articlePath, articleContent);
-
-            console.log(`   📄 Created article.mdx with ${mdxFiles.length} chapters`);
-
-        } catch (error) {
-            this.errors.push(`Failed to create main article: ${error.message}`);
-        }
-    }
-
-    generateFrontmatter() {
-        const now = new Date().toISOString().split('T')[0];
-
-        return `---
-title: "Robot Learning: A Tutorial"
-subtitle: "From Classical Robotics to Foundation Models"
-description: "A comprehensive guide to modern robot learning techniques"
-date: "${now}"
-authors:
-  - name: "Francesco Capuano"
-    affiliations: [1, 2]
-  - name: "Adil Zouitine"
-    affiliations: [2]
-  - name: "Pepijn Kooijmans"
-    affiliations: [2]
-  - name: "Thomas Wolf"
-    affiliations: [2]
-  - name: "Michel Aractingi"
-    affiliations: [2]
-affiliations:
-  - name: "École Normale Supérieure Paris-Saclay"
-    url: "https://ens-paris-saclay.fr"
-  - name: "Hugging Face"
-    url: "https://huggingface.co"
-tags:
-  - robotics
-  - machine-learning
-  - tutorial
-bibliography: bibliography.bib
-converted_from: "LaTeX"
----
-
-`;
-    }
-
-    generateChapterImports(mdxFiles) {
-        let imports = '';
-        let components = '';
-
-        mdxFiles.forEach(file => {
-            const sectionName = basename(file, '.mdx');
-            const componentName = this.formatComponentName(sectionName);
-
-            imports += `import ${componentName} from "./chapters/${sectionName}.mdx";\n`;
-            components += `<${componentName} />\n\n`;
-        });
-
-        return { imports, components };
-    }
-
-    formatComponentName(sectionName) {
-        let componentName = sectionName
-            .split(/[_-]/)
-            .map(part => part.charAt(0).toUpperCase() + part.slice(1))
-            .join('');
-
-        if (/^\d/.test(componentName)) {
-            componentName = 'Chapter' + componentName;
-        }
-
-        if (componentName === 'AForword') componentName = 'Foreword';
-        if (componentName === 'Chapter00Abstract') componentName = 'Abstract';
-
-        return componentName;
-    }
-
-    generateReport() {
-        console.log('\n📊 Conversion Report:');
-        console.log('=====================');
-        console.log(`⏱️  Time: ${(this.stats.conversionTime / 1000).toFixed(2)}s`);
-        console.log(`📄 Files: ${this.stats.totalFiles}`);
-        console.log(`🖼️  Figures: ${this.stats.totalFigures}`);
-        console.log(`📚 Citations: ${this.stats.totalCitations}`);
-        console.log(`⚠️  Warnings: ${this.warnings.length}`);
-        console.log(`❌ Errors: ${this.errors.length}`);
-
-        const robustStats = this.robustPreprocessor.getStats();
-        console.log(`🔧 Commands replaced: ${robustStats.commandsReplaced}`);
-        console.log(`📦 Environments processed: ${robustStats.environmentsProcessed}`);
-        console.log(`🖼️  Figures processed: ${robustStats.figuresProcessed}`);
-        console.log(`📐 Math expressions fixed: ${robustStats.mathExpressionsFixed}`);
-
-        if (this.warnings.length > 0 && this.warnings.length <= 3) {
-            console.log('\n⚠️  Warnings:');
-            this.warnings.forEach(w => console.log(`   - ${w}`));
-        } else if (this.warnings.length > 3) {
-            console.log(`\n⚠️  ${this.warnings.length} warnings:`);
-            this.warnings.forEach(w => console.log(`   - ${w.substring(0, 150)}...`));
-        }
-    }
-}

app/scripts/latex-to-markdown/old-latex-converter/image-transformer.mjs

@@ -1,179 +0,0 @@
-/**
- * Transformateur d'images : Markdown → ResponsiveImage Astro
- * Convertit les images markdown en composants ResponsiveImage optimisés
- */
-
-import { promises as fs } from 'node:fs';
-import { dirname, basename, extname, resolve, relative } from 'node:path';
-
-export class ImageTransformer {
-    constructor() {
-        this.stats = {
-            filesProcessed: 0,
-            imagesTransformed: 0,
-            importsAdded: 0
-        };
-    }
-
-    async transformImagesInDirectory(contentDir) {
-        const chaptersDir = resolve(contentDir, 'chapters');
-
-        try {
-            const files = await fs.readdir(chaptersDir);
-            const mdxFiles = files.filter(file => file.endsWith('.mdx'));
-
-            for (const file of mdxFiles) {
-                const filePath = resolve(chaptersDir, file);
-                await this.transformImagesInFile(filePath, contentDir);
-                this.stats.filesProcessed++;
-            }
-
-            console.log(`📸 Image transformation completed:`);
-            console.log(`   📄 Files processed: ${this.stats.filesProcessed}`);
-            console.log(`   🖼️  Images transformed: ${this.stats.imagesTransformed}`);
-            console.log(`   📦 Imports added: ${this.stats.importsAdded}`);
-
-        } catch (error) {
-            console.error('Error transforming images:', error.message);
-        }
-    }
-
-    async transformImagesInFile(filePath, contentDir) {
-        try {
-            let content = await fs.readFile(filePath, 'utf-8');
-
-            const imageInfo = this.extractImageInfo(content);
-            if (imageInfo.length === 0) {
-                return; // No images to transform
-            }
-
-            const imports = this.generateImports(imageInfo, filePath, contentDir);
-            const transformedContent = this.transformImageReferences(content, imageInfo);
-
-            // Add imports at the top of the file
-            const finalContent = this.addImportsToFile(transformedContent, imports);
-
-            await fs.writeFile(filePath, finalContent);
-
-            this.stats.imagesTransformed += imageInfo.length;
-            this.stats.importsAdded += imports.length;
-
-        } catch (error) {
-            console.error(`Error processing ${filePath}:`, error.message);
-        }
-    }
-
-    extractImageInfo(content) {
-        // More robust regex that handles complex alt text with brackets and parentheses
-        const imageRegex = /!\[([^\]]*(?:\[[^\]]*\][^\]]*)*)\]\(([^)]+)\)(?:\s*(#[^\s]+))?/g;
-        const images = [];
-        let match;
-
-        while ((match = imageRegex.exec(content)) !== null) {
-            const [fullMatch, alt, src, id] = match;
-
-            // Only process relative image paths (not external URLs)
-            if (!src.startsWith('http') && !src.startsWith('//')) {
-                images.push({
-                    fullMatch,
-                    alt: alt || 'Figure',
-                    src,
-                    id: id ? id.substring(1) : null, // Remove # from id
-                    variableName: this.generateVariableName(src)
-                });
-            }
-        }
-
-        return images;
-    }
-
-    generateVariableName(imagePath) {
-        // Convert path to valid variable name
-        // assets/image/ch4/ch4-bc-trajectories.png → ch4BcTrajectories
-        const filename = basename(imagePath, extname(imagePath));
-
-        return filename
-            .replace(/[-_]/g, ' ')
-            .replace(/\b\w/g, l => l.toUpperCase())
-            .replace(/\s/g, '')
-            .replace(/^\d+/, 'Fig$&'); // Prefix with Fig if starts with number
-    }
-
-    generateImports(imageInfo, filePath, contentDir) {
-        const imports = [];
-
-        // Add ResponsiveImage import
-        imports.push("import ResponsiveImage from '../../components/ResponsiveImage.astro'");
-
-        // Add image imports
-        for (const image of imageInfo) {
-            const relativePath = this.getRelativeImagePath(image.src, filePath, contentDir);
-            imports.push(`import ${image.variableName} from '${relativePath}'`);
-        }
-
-        return imports;
-    }
-
-    getRelativeImagePath(imageSrc, filePath, contentDir) {
-        // Convert absolute image path to relative from chapter file
-        // From: chapters/04_imitation_learning.mdx
-        // To: ../assets/image/ch4/ch4-bc-trajectories.png
-
-        const chapterDir = dirname(filePath);
-        const imageAbsolutePath = resolve(contentDir, imageSrc);
-        const relativePath = relative(chapterDir, imageAbsolutePath);
-
-        return relativePath.startsWith('.') ? relativePath : `./${relativePath}`;
-    }
-
-    transformImageReferences(content, imageInfo) {
-        let transformed = content;
-
-        for (const image of imageInfo) {
-            const componentTag = this.generateResponsiveImageTag(image);
-            transformed = transformed.replace(image.fullMatch, componentTag);
-        }
-
-        return transformed;
-    }
-
-    generateResponsiveImageTag(image) {
-        const props = [
-            `src={${image.variableName}}`,
-            `alt="${image.alt}"`
-        ];
-
-        if (image.id) {
-            props.push(`id="${image.id}"`);
-        }
-
-        return `<ResponsiveImage ${props.join(' ')} />`;
-    }
-
-    addImportsToFile(content, imports) {
-        if (imports.length === 0) {
-            return content;
-        }
-
-        // Check if there are already imports at the top
-        const lines = content.split('\n');
-        let insertIndex = 0;
-
-        // Skip existing imports
-        while (insertIndex < lines.length &&
-            (lines[insertIndex].startsWith('import ') ||
-                lines[insertIndex].trim() === '')) {
-            insertIndex++;
-        }
-
-        // Insert imports
-        const importBlock = imports.join('\n') + '\n\n';
-        lines.splice(insertIndex, 0, importBlock);
-
-        return lines.join('\n');
-    }
-
-    getStats() {
-        return this.stats;
-    }
-}

app/scripts/latex-to-markdown/old-latex-converter/index.mjs

@@ -1,75 +0,0 @@
-#!/usr/bin/env node
-/**
- * Point d'entrée principal pour la conversion LaTeX vers Markdown
- * 
- * Usage: node scripts/latex-converter/index.mjs [--input=path] [--output=path] [--clean]
- */
-
-import { resolve } from 'node:path';
-import { spawn } from 'node:child_process';
-import process from 'node:process';
-
-import { LaTeXConverter } from './converter.mjs';
-import { ImageTransformer } from './image-transformer.mjs';
-import { DEFAULT_PATHS } from './config.mjs';
-
-function parseArgs(argv) {
-    const out = {};
-    for (const arg of argv.slice(2)) {
-        if (!arg.startsWith('--')) continue;
-        const [k, v] = arg.replace(/^--/, '').split('=');
-        out[k] = v === undefined ? true : v;
-    }
-    return out;
-}
-
-async function checkPandoc() {
-    try {
-        const child = spawn('pandoc', ['--version'], { stdio: 'pipe' });
-        return new Promise((resolve) => {
-            child.on('exit', (code) => resolve(code === 0));
-            child.on('error', () => resolve(false));
-        });
-    } catch {
-        return false;
-    }
-}
-
-async function main() {
-    const cwd = process.cwd();
-    const args = parseArgs(process.argv);
-
-    // Vérifier Pandoc
-    const hasPandoc = await checkPandoc();
-    if (!hasPandoc) {
-        console.error('❌ Pandoc n\'est pas installé.');
-        console.error('   macOS: brew install pandoc');
-        console.error('   Ubuntu: apt-get install pandoc');
-        process.exit(1);
-    }
-
-    // Chemins
-    const inputDir = resolve(cwd, args.input || DEFAULT_PATHS.input);
-    const outputDir = resolve(cwd, args.output || DEFAULT_PATHS.output);
-
-    try {
-        const converter = new LaTeXConverter();
-        await converter.convert(inputDir, outputDir, {
-            clean: args.clean || false
-        });
-
-        // Transform images to ResponsiveImage components
-        console.log('\n📸 Transforming images to ResponsiveImage components...');
-        const imageTransformer = new ImageTransformer();
-        await imageTransformer.transformImagesInDirectory(outputDir);
-
-    } catch (error) {
-        console.error('❌ Conversion échouée:', error.message);
-        process.exit(1);
-    }
-}
-
-main().catch(err => {
-    console.error('❌ Erreur fatale:', err);
-    process.exit(1);
-});

app/scripts/latex-to-markdown/old-latex-converter/preprocessor.mjs

@@ -1,115 +0,0 @@
-/**
- * Préprocesseur LaTeX - Nettoie et simplifie le contenu LaTeX
- */
-
-import { COMMAND_MAPPINGS, ENVIRONMENT_MAPPINGS } from './config.mjs';
-
-export class LaTeXPreprocessor {
-    constructor() {
-        this.stats = {
-            commandsReplaced: 0,
-            environmentsProcessed: 0,
-            figuresFixed: 0
-        };
-    }
-
-    preprocessContent(content) {
-        let processed = content;
-
-        // Remove comments
-        processed = processed.replace(/%.*$/gm, '');
-
-        // Apply command mappings
-        processed = this.applyCommandMappings(processed);
-
-        // Process custom environments
-        processed = this.processCustomEnvironments(processed);
-
-        // Fix figures
-        processed = this.fixFigures(processed);
-
-        // General cleanup
-        processed = processed.replace(/\n{3,}/g, '\n\n');
-        processed = processed.trim();
-
-        return processed;
-    }
-
-    applyCommandMappings(content) {
-        let processed = content;
-
-        for (const [command, replacement] of Object.entries(COMMAND_MAPPINGS)) {
-            const regex = new RegExp(`\\\\${command.replace(/[.*+?^${}()|[\]\\]/g, '\\$&')}(?![a-zA-Z])`, 'g');
-            const matches = processed.match(regex);
-            if (matches) {
-                this.stats.commandsReplaced += matches.length;
-                processed = processed.replace(regex, replacement);
-            }
-        }
-
-        return processed;
-    }
-
-    processCustomEnvironments(content) {
-        let processed = content;
-
-        // Convert tldr environment
-        processed = processed.replace(
-            /\\begin\{tldr\}(.*?)\\end\{tldr\}/gs,
-            (match, content) => {
-                this.stats.environmentsProcessed++;
-                return `> **TL;DR**\n> ${content.trim()}\n`;
-            }
-        );
-
-        // Convert callout environment
-        processed = processed.replace(
-            /\\begin\{callout\}\{([^}]*)\}(.*?)\\end\{callout\}/gs,
-            (match, title, content) => {
-                this.stats.environmentsProcessed++;
-                return `> **${title}**\n> ${content.trim()}\n`;
-            }
-        );
-
-        // Convert finding environment
-        processed = processed.replace(
-            /\\finding\{([^}]*)\}\{([^}]*)\}/g,
-            (match, number, content) => {
-                this.stats.environmentsProcessed++;
-                return `> **🔍 Finding ${number}**: ${content}\n`;
-            }
-        );
-
-        return processed;
-    }
-
-    fixFigures(content) {
-        let fixed = content;
-
-        // Fix complex figure environments
-        const figurePattern = /\\begin\{figure\}[\s\S]*?\\includegraphics(?:\[[^\]]*\])?\{([^}]+)\}[\s\S]*?\\caption\{([^}]+)\}[\s\S]*?(?:\\label\{([^}]+)\})?[\s\S]*?\\end\{figure\}/g;
-
-        fixed = fixed.replace(figurePattern, (match, imagePath, caption, label) => {
-            this.stats.figuresFixed++;
-            const cleanPath = imagePath.replace(/^figures\//, 'assets/image/');
-            const labelAttr = label ? ` {#fig-${label}}` : '';
-            return `\n![${caption}](${cleanPath})${labelAttr}\n\n*${caption}*\n`;
-        });
-
-        // Fix simple includegraphics
-        fixed = fixed.replace(
-            /\\includegraphics(?:\[[^\]]*\])?\{([^}]+)\}/g,
-            (match, imagePath) => {
-                this.stats.figuresFixed++;
-                const cleanPath = imagePath.replace(/^figures\//, 'assets/image/');
-                return `![Image](${cleanPath})`;
-            }
-        );
-
-        return fixed;
-    }
-
-    getStats() {
-        return this.stats;
-    }
-}

app/scripts/latex-to-markdown/old-latex-converter/robust-preprocessor.mjs

@@ -1,399 +0,0 @@
-/**
- * Préprocesseur LaTeX Ultra-Robuste
- * Gère les cas complexes qui font planter Pandoc
- */
-
-export class RobustLaTeXPreprocessor {
-    constructor() {
-        this.stats = {
-            figuresProcessed: 0,
-            citationsFixed: 0,
-            mathExpressionsFixed: 0,
-            environmentsProcessed: 0,
-            commandsReplaced: 0
-        };
-        this.debugMode = false;
-    }
-
-    preprocessContent(content, filename = 'unknown') {
-        if (this.debugMode) {
-            console.log(`    🔍 [DEBUG] Processing ${filename}...`);
-        }
-
-        let processed = content;
-
-        // Phase 1: Structure cleanup (most important first)
-        processed = this.phase1_StructureCleanup(processed);
-
-        // Phase 2: Content transformation
-        processed = this.phase2_ContentTransformation(processed);
-
-        // Phase 3: Final polish
-        processed = this.phase3_FinalPolish(processed);
-
-        return processed;
-    }
-
-    phase1_StructureCleanup(content) {
-        let cleaned = content;
-
-        // Remove comments (but preserve structure)
-        cleaned = cleaned.replace(/%.*$/gm, '');
-
-        // Fix broken line breaks that split words
-        cleaned = this.fixBrokenLineBreaks(cleaned);
-
-        // Fix broken equation environments
-        cleaned = this.fixBrokenEquations(cleaned);
-
-        // Fix broken figure environments BEFORE processing
-        cleaned = this.fixComplexFigures(cleaned);
-
-        // Handle problematic environments early
-        cleaned = this.handleProblematicEnvironments(cleaned);
-
-        return cleaned;
-    }
-
-    fixBrokenLineBreaks(content) {
-        let fixed = content;
-
-        // Fix hyphenated words broken across lines
-        // "length-\nT\nT" → "length-T"
-        fixed = fixed.replace(/([a-zA-Z])-\s*\n\s*([A-Z])\s*\n\s*\2/g, '$1-$2');
-
-        // Fix broken compound words
-        // "some-\nword" → "some-word"  
-        fixed = fixed.replace(/([a-zA-Z])-\s*\n\s*([a-z])/g, '$1-$2');
-
-        // Fix sentences that got broken inappropriately
-        // "word.Sentence" → "word. Sentence"
-        fixed = fixed.replace(/([a-z])\.([A-Z])/g, '$1. $2');
-
-        return fixed;
-    }
-
-    fixBrokenEquations(content) {
-        let fixed = content;
-
-        // Fix mixed equation environments
-        // "\end{equation}$" → "$$"
-        fixed = fixed.replace(/\\end\{equation\}\$/g, '$$');
-        fixed = fixed.replace(/\$\\begin\{equation\}/g, '$$');
-
-        // Fix broken align environments  
-        fixed = fixed.replace(/([^$])\s*&=\s*/g, '$1 &= ');
-
-        // Fix multiline math that lost structure
-        fixed = fixed.replace(/\$([^$]*?)&=([^$]*?)\$/g, '$$\\begin{align}\n$1 &= $2\n\\end{align}$$');
-
-        return fixed;
-    }
-
-    fixComplexFigures(content) {
-        let fixed = content;
-
-        // Strategy: Convert complex figures to simple markdown BEFORE Pandoc sees them
-        const figurePattern = /\\begin\{figure\*?\}([\s\S]*?)\\end\{figure\*?\}/g;
-        const wrapfigurePattern = /\\begin\{wrapfigure\}(?:\[[^\]]*\])?\{[^}]*\}\{[^}]*\}([\s\S]*?)\\end\{wrapfigure\}/g;
-
-        fixed = fixed.replace(figurePattern, (match, figureContent) => {
-            this.stats.figuresProcessed++;
-
-            // Extract components safely
-            const imageMatch = figureContent.match(/\\includegraphics(?:\[[^\]]*\])?\{([^}]+)\}/);
-            const captionMatch = figureContent.match(/\\caption\{([\s\S]*?)\}(?=\s*(?:\\label|\\end|\}|$))/);
-            const labelMatch = figureContent.match(/\\label\{([^}]+)\}/);
-
-            if (!imageMatch) {
-                return match; // Keep original if we can't parse it
-            }
-
-            const imagePath = imageMatch[1].replace(/^figures\//, 'assets/image/');
-            let caption = captionMatch ? captionMatch[1].trim() : 'Figure';
-            const label = labelMatch ? labelMatch[1] : '';
-
-            // Clean caption thoroughly
-            caption = this.cleanCaption(caption);
-
-            // Generate clean markdown
-            const labelAttr = label ? ` {#fig-${label}}` : '';
-
-            return `\n\n![${caption}](${imagePath})${labelAttr}\n\n*${caption}*\n\n`;
-        });
-
-        // Also handle wrapfigure environments
-        fixed = fixed.replace(wrapfigurePattern, (match, figureContent) => {
-            this.stats.figuresProcessed++;
-
-            // Extract components safely
-            const imageMatch = figureContent.match(/\\includegraphics(?:\[[^\]]*\])?\{([^}]+)\}/);
-            const captionMatch = figureContent.match(/\\caption\{([\s\S]*?)\}(?=\s*(?:\\label|\\end|\}|$))/);
-            const labelMatch = figureContent.match(/\\label\{([^}]+)\}/);
-
-            if (!imageMatch) {
-                return match; // Keep original if we can't parse it
-            }
-
-            const imagePath = imageMatch[1].replace(/^figures\//, 'assets/image/');
-            let caption = captionMatch ? captionMatch[1].trim() : 'Figure';
-            const label = labelMatch ? labelMatch[1] : '';
-
-            // Clean caption thoroughly
-            caption = this.cleanCaption(caption);
-
-            // Generate clean markdown (simpler for wrapfigure)
-            const labelAttr = label ? ` {#fig-${label}}` : '';
-
-            return `\n\n![${caption}](${imagePath})${labelAttr}\n\n`;
-        });
-
-        return fixed;
-    }
-
-    cleanCaption(caption) {
-        let cleaned = caption;
-
-        // Handle citations in captions properly
-        cleaned = cleaned.replace(/~\\cite[tp]?\{([^}]+)\}/g, ' [@$1]');
-        cleaned = cleaned.replace(/\\cite[tp]?\{([^}]+)\}/g, '[@$1]');
-
-        // Remove problematic LaTeX commands
-        cleaned = cleaned.replace(/\\textit\{([^}]+)\}/g, '*$1*');
-        cleaned = cleaned.replace(/\\textbf\{([^}]+)\}/g, '**$1**');
-        cleaned = cleaned.replace(/\\emph\{([^}]+)\}/g, '*$1*');
-
-        // Fix \textsc with complex content
-        cleaned = cleaned.replace(/\\textsc\{([^}]*\([^)]*\)[^}]*)\}/g, '**$1**');
-
-        // Handle nested braces safely
-        let depth = 0;
-        let result = '';
-        for (let i = 0; i < cleaned.length; i++) {
-            const char = cleaned[i];
-            if (char === '{') {
-                depth++;
-                if (depth === 1) continue; // Skip opening brace
-            } else if (char === '}') {
-                depth--;
-                if (depth === 0) continue; // Skip closing brace
-            } else {
-                result += char;
-            }
-        }
-
-        return result.trim();
-    }
-
-    handleProblematicEnvironments(content) {
-        let fixed = content;
-
-        // Handle algorithm environments
-        fixed = fixed.replace(/\\begin\{algorithm\}([\s\S]*?)\\end\{algorithm\}/g, (match, algContent) => {
-            return '\n```\nAlgorithm:\n' + algContent.replace(/\\[a-zA-Z]+/g, '') + '\n```\n';
-        });
-
-        // Handle complex math environments
-        fixed = fixed.replace(/\\begin\{align\*?\}([\s\S]*?)\\end\{align\*?\}/g, (match, mathContent) => {
-            const cleaned = mathContent.replace(/\\&/g, '').replace(/\\\\/g, '\n');
-            return '\n$$\n' + cleaned + '\n$$\n';
-        });
-
-        return fixed;
-    }
-
-    phase2_ContentTransformation(content) {
-        let transformed = content;
-
-        // Apply command mappings (safer order)
-        transformed = this.applyCommandMappings(transformed);
-
-        // Process custom environments
-        transformed = this.processCustomEnvironments(transformed);
-
-        // Handle remaining citations
-        transformed = this.processCitations(transformed);
-
-        return transformed;
-    }
-
-    applyCommandMappings(content) {
-        let processed = content;
-
-        // Safe command replacements (most common first)
-        const safeCommands = {
-            'eg': 'e.g.,',
-            'ie': 'i.e.,',
-            'versus': 'vs.',
-            'wrt': 'w.r.t.',
-            'etc': 'etc.',
-            'lerobot': '**LeRobot**',
-            'lerobotdataset': '`LeRobotDataset`',
-            'huggingface': '🤗 **Hugging Face**',
-            'qfunction': 'Q-function',
-            'qopt': 'Q^*',
-            // Robotics-specific commands from handles.tex
-            'actionchunk': '\\mathbf{A}',
-            'actionexpert': '\\mathbf{v}_\\theta',
-            'pizero': '\\pi_0',
-            'statespace': '\\mathcal{S}',
-            'actionspace': '\\mathcal{A}',
-            'obsspace': '\\mathcal{O}',
-            'dynamics': '\\mathcal{D}',
-            'stateplusone': 's_{t+1}',
-            'state': 's_t',
-            'action': 'a_t',
-            'transition': '(s_t, a_t, s_{t+1})',
-            'sars': '(s_t, a_t, r_t, s_{t+1})',
-            'transitiongiven': '(s_{t+1} | s_t, a_t)',
-            'transitionprob': '\\mathbb{P}(s_{t+1} | s_t, a_t)',
-            'trajectory': '(s_0, a_0, r_0, s_1, a_1, r_1, \\dots, s_{T-1}, a_{T-1}, r_{T-1}, s_T)',
-            'Jpi': 'J(\\pi_\\theta)',
-            'supp': '\\text{supp}',
-            'DKL': '\\text{D}_{\\text{KL}}',
-            'FK': '\\text{FK}',
-            'targetvel': '\\dot{p}^*',
-            'targetpos': 'p^*'
-        };
-
-        for (const [command, replacement] of Object.entries(safeCommands)) {
-            const regex = new RegExp(`\\\\${command}(?![a-zA-Z])`, 'g');
-            const matches = processed.match(regex);
-            if (matches) {
-                this.stats.commandsReplaced += matches.length;
-                processed = processed.replace(regex, replacement);
-            }
-        }
-
-        // Math commands (more careful)
-        const mathCommands = ['X', 'Z', 'G', 'D', 'F', 'R', 'S', 'T', 'U', 'Y'];
-        mathCommands.forEach(letter => {
-            const regex = new RegExp(`\\\\${letter}(?![a-zA-Z])`, 'g');
-            processed = processed.replace(regex, `\\mathcal{${letter}}`);
-        });
-
-        // Handle commands with subscripts (like \actionchunk_t)
-        processed = processed.replace(/\\actionchunk_t/g, '\\mathbf{A}_t');
-        processed = processed.replace(/\\actionexpert_([a-zA-Z0-9]+)/g, '\\mathbf{v}_{\\theta_$1}');
-        processed = processed.replace(/\\state_([a-zA-Z0-9]+)/g, 's_{$1}');
-        processed = processed.replace(/\\action_([a-zA-Z0-9]+)/g, 'a_{$1}');
-
-        // Fix problematic \textsc commands with complex content
-        processed = processed.replace(/\\textsc\{([^{}]*\([^)]*\)[^{}]*)\}/g, '**$1**');
-        processed = processed.replace(/\\textsc\{([^}]+)\}/g, '**$1**');
-
-        // Fix \url commands to make them MDX-compatible
-        processed = processed.replace(/\\textbf\{\\url\{([^}]+)\}\}/g, '**[$1]($1)**');
-        processed = processed.replace(/\\url\{([^}]+)\}/g, '[$1]($1)');
-
-        return processed;
-    }
-
-    processCustomEnvironments(content) {
-        let processed = content;
-
-        // TL;DR environment
-        processed = processed.replace(
-            /\\begin\{tldr\}([\s\S]*?)\\end\{tldr\}/g,
-            (match, content) => {
-                this.stats.environmentsProcessed++;
-                return `\n> **TL;DR**\n> ${content.trim()}\n\n`;
-            }
-        );
-
-        // Callout environment
-        processed = processed.replace(
-            /\\begin\{callout\}\{([^}]*)\}([\s\S]*?)\\end\{callout\}/g,
-            (match, title, content) => {
-                this.stats.environmentsProcessed++;
-                return `\n> **${title}**\n> ${content.trim()}\n\n`;
-            }
-        );
-
-        // Finding command
-        processed = processed.replace(
-            /\\finding\{([^}]*)\}\{([^}]*)\}/g,
-            (match, number, content) => {
-                this.stats.environmentsProcessed++;
-                return `\n> **🔍 Finding ${number}**: ${content}\n\n`;
-            }
-        );
-
-        return processed;
-    }
-
-    processCitations(content) {
-        let processed = content;
-
-        // Handle different citation types
-        processed = processed.replace(/\\citep\{([^}]+)\}/g, '[@$1]');
-        processed = processed.replace(/\\citet\{([^}]+)\}/g, '@$1');
-        processed = processed.replace(/\\cite\{([^}]+)\}/g, '[@$1]');
-
-        // Handle spaced citations (common issue)
-        processed = processed.replace(/~\\cite/g, ' \\cite');
-        processed = processed.replace(/~\[@/g, ' [@');
-
-        // Count citations
-        const citations = processed.match(/\[@[^\]]+\]/g) || [];
-        this.stats.citationsFixed += citations.length;
-
-        return processed;
-    }
-
-    phase3_FinalPolish(content) {
-        let polished = content;
-
-        // Fix math expressions
-        polished = this.fixMathExpressions(polished);
-
-        // Clean up whitespace and structure
-        polished = this.finalCleanup(polished);
-
-        return polished;
-    }
-
-    fixMathExpressions(content) {
-        let fixed = content;
-
-        // Fix common problematic patterns
-        fixed = fixed.replace(/\$\{([^}]+)\}\$/g, '$$$1$$'); // ${...}$ -> $...$
-        fixed = fixed.replace(/\$([^$]*)\\\$([^$]*)\$/g, '$$$1$2$$'); // $...\$...$ -> $...$
-
-        // Fix pi expressions specifically
-        fixed = fixed.replace(/\$\\pi_\$([0-9]+)\$/g, '$\\pi_$1$');
-        fixed = fixed.replace(/\$\{\\pi_\}([0-9]+)\$/g, '$\\pi_$1$');
-
-        // Fix malformed math delimiters
-        fixed = fixed.replace(/\$\$\$+/g, '$$');
-
-        this.stats.mathExpressionsFixed++;
-
-        return fixed;
-    }
-
-    finalCleanup(content) {
-        let cleaned = content;
-
-        // Normalize whitespace
-        cleaned = cleaned.replace(/\n{3,}/g, '\n\n');
-        cleaned = cleaned.replace(/[ \t]+$/gm, ''); // Trailing spaces
-
-        // Fix MDX-incompatible angle bracket URLs
-        cleaned = cleaned.replace(/\*\*<(https?:\/\/[^>]+)>\*\*/g, '**[$1]($1)**');
-        cleaned = cleaned.replace(/<(https?:\/\/[^>]+)>/g, '[$1]($1)');
-
-        // Ensure proper spacing around elements
-        cleaned = cleaned.replace(/\n\n\n+/g, '\n\n');
-
-        return cleaned.trim();
-    }
-
-    getStats() {
-        return this.stats;
-    }
-
-    setDebugMode(enabled) {
-        this.debugMode = enabled;
-    }
-}

app/scripts/latex-to-markdown/reference-preprocessor.mjs

@@ -82,6 +82,54 @@ function createCleanMapping(references) {
     return mapping;
 }
 
+/**
+ * Convert labels to HTML anchor spans for better MDX compatibility
+ * @param {string} content - LaTeX content
+ * @param {Map} mapping - Identifier mapping (original -> clean)
+ * @returns {Object} - Result with content and count of conversions
+ */
+function convertLabelsToAnchors(content, mapping) {
+    let processedContent = content;
+    let anchorsCreated = 0;
+
+    // Replace \label{...} with HTML anchor spans, but SKIP labels inside math environments
+    for (const [original, clean] of mapping) {
+        // Skip equation labels (they will be handled by the Lua filter)
+        if (original.startsWith('eq:')) {
+            continue;
+        }
+
+        const labelRegex = new RegExp(`\\\\label\\{${escapeRegex(original)}\\}`, 'g');
+        const labelMatches = processedContent.match(labelRegex);
+
+        if (labelMatches) {
+            // Replace \label{original} with HTML span anchor (invisible but accessible)
+            processedContent = processedContent.replace(labelRegex, `\n\n<span id="${clean}" style="position: absolute;"></span>\n\n`);
+            anchorsCreated += labelMatches.length;
+        }
+    }
+
+    return { content: processedContent, anchorsCreated };
+}
+
+/**
+ * Convert \highlight{...} commands to HTML spans with CSS class
+ * @param {string} content - LaTeX content
+ * @returns {Object} - Result with content and count of conversions
+ */
+function convertHighlightCommands(content) {
+    let processedContent = content;
+    let highlightsConverted = 0;
+
+    // Replace \highlight{...} with <span class="highlight">...</span>
+    processedContent = processedContent.replace(/\\highlight\{([^}]+)\}/g, (match, text) => {
+        highlightsConverted++;
+        return `<span class="highlight">${text}</span>`;
+    });
+
+    return { content: processedContent, highlightsConverted };
+}
+
 /**
  * Apply mapping to LaTeX content
  * @param {string} content - Original LaTeX content
@@ -92,17 +140,19 @@ function applyMapping(content, mapping) {
     let cleanedContent = content;
     let changesCount = 0;
 
-    // Apply mapping to all identifiers
+    // First, convert labels to anchor spans
+    const anchorResult = convertLabelsToAnchors(cleanedContent, mapping);
+    cleanedContent = anchorResult.content;
+    const anchorsCreated = anchorResult.anchorsCreated;
+
+    // Convert \highlight{} commands to spans
+    const highlightResult = convertHighlightCommands(cleanedContent);
+    cleanedContent = highlightResult.content;
+    const highlightsConverted = highlightResult.highlightsConverted;
+
+    // Then apply mapping to remaining references and equation labels
     for (const [original, clean] of mapping) {
         if (original !== clean) {
-            // Replace \label{original} with \label{clean}
-            const labelRegex = new RegExp(`\\\\label\\{${escapeRegex(original)}\\}`, 'g');
-            const labelMatches = cleanedContent.match(labelRegex);
-            if (labelMatches) {
-                cleanedContent = cleanedContent.replace(labelRegex, `\\label{${clean}}`);
-                changesCount += labelMatches.length;
-            }
-
             // Replace \ref{original} with \ref{clean}
             const refRegex = new RegExp(`\\\\ref\\{${escapeRegex(original)}\\}`, 'g');
             const refMatches = cleanedContent.match(refRegex);
@@ -110,10 +160,24 @@ function applyMapping(content, mapping) {
                 cleanedContent = cleanedContent.replace(refRegex, `\\ref{${clean}}`);
                 changesCount += refMatches.length;
             }
+
+            // For equation labels, still clean the labels themselves (for the Lua filter)
+            if (original.startsWith('eq:')) {
+                const labelRegex = new RegExp(`\\\\label\\{${escapeRegex(original)}\\}`, 'g');
+                const labelMatches = cleanedContent.match(labelRegex);
+                if (labelMatches) {
+                    cleanedContent = cleanedContent.replace(labelRegex, `\\label{${clean}}`);
+                    changesCount += labelMatches.length;
+                }
+            }
         }
     }
 
-    return { content: cleanedContent, changesCount };
+    return {
+        content: cleanedContent,
+        changesCount: changesCount + anchorsCreated,
+        highlightsConverted: highlightsConverted
+    };
 }
 
 /**
@@ -145,23 +209,27 @@ export function preprocessLatexReferences(latexContent) {
     const result = applyMapping(latexContent, mapping);
 
     if (result.changesCount > 0) {
-        console.log(`   ✅ Cleaned ${result.changesCount} reference(s) for MDX compatibility`);
+        console.log(`   ✅ Processed ${result.changesCount} reference(s) and created anchor spans`);
 
         // Show some examples of changes
         let exampleCount = 0;
         for (const [original, clean] of mapping) {
             if (original !== clean && exampleCount < 3) {
-                console.log(`      ${original} → ${clean}`);
+                console.log(`      ${original} → ${clean} (span + refs)`);
                 exampleCount++;
             }
         }
         if (mapping.size > 3) {
-            console.log(`      ... and ${mapping.size - 3} more`);
+            console.log(`      ... and ${mapping.size - 3} more anchor spans created`);
         }
     } else {
         console.log('   ℹ️  No reference cleanup needed');
     }
 
+    if (result.highlightsConverted > 0) {
+        console.log(`   ✨ Converted ${result.highlightsConverted} \\highlight{} command(s) to <span class="highlight">`);
+    }
+
     return {
         content: result.content,
         changesCount: result.changesCount,

app/src/styles/_base.css

@@ -109,4 +109,16 @@ html {
 
 [data-footnote-ref] {
   margin-left: 4px;
+}
+
+.highlight {
+  /* background-color: color-mix(in srgb, var(--primary-color) 26%, transparent); */
+  background-color: var(--primary-color);
+  color: var(--page-bg);
+  padding: 3px 6px;
+  border-radius: 3px;
+}
+
+.highlight>* {
+  padding: 0;
 }

app/src/styles/_variables.css

@@ -8,10 +8,10 @@
   --neutral-300: rgb(228, 228, 228);
   --neutral-200: rgb(245, 245, 245);
 
-  --default-font-family: Source Sans Pro,ui-sans-serif,system-ui,sans-serif,"Apple Color Emoji","Segoe UI Emoji","Segoe UI Symbol","Noto Color Emoji";
+  --default-font-family: Source Sans Pro, ui-sans-serif, system-ui, sans-serif, "Apple Color Emoji", "Segoe UI Emoji", "Segoe UI Symbol", "Noto Color Emoji";
 
   /* Brand (OKLCH base + derived states) */
-  --primary-base: oklch(0.75 0.12 340);
+  --primary-base: oklch(0.74 0.12 60.17);
   --primary-color: var(--primary-base);
   --primary-color-hover: oklch(from var(--primary-color) calc(l - 0.05) c h);
   --primary-color-active: oklch(from var(--primary-color) calc(l - 0.10) c h);
@@ -19,10 +19,10 @@
 
   /* Text & Surfaces */
   --page-bg: #ffffff;
-  --text-color: rgba(0,0,0,.85);
-  --transparent-page-contrast: rgba(255,255,255,.85);
-  --muted-color: rgba(0,0,0,.6);
-  --border-color: rgba(0,0,0,.1);
+  --text-color: rgba(0, 0, 0, .85);
+  --transparent-page-contrast: rgba(255, 255, 255, .85);
+  --muted-color: rgba(0, 0, 0, .6);
+  --border-color: rgba(0, 0, 0, .1);
   --surface-bg: #fafafa;
   --code-bg: #f6f8fa;
 
@@ -52,8 +52,10 @@
   @custom-media --bp-content-collapse (max-width: 1100px);
 
   /* Layout */
-  --content-padding-x: 16px; /* default page gutter */
-  --block-spacing-y: var(--spacing-4); /* default vertical spacing between block components */
+  --content-padding-x: 16px;
+  /* default page gutter */
+  --block-spacing-y: var(--spacing-4);
+  /* default vertical spacing between block components */
 
   /* Config */
   --palette-count: 8;
@@ -86,7 +88,7 @@
   /* Charts (global) */
   --axis-color: var(--muted-color);
   --tick-color: var(--text-color);
-  --grid-color: rgba(0,0,0,.08);
+  --grid-color: rgba(0, 0, 0, .08);
 }
 
 /* ============================================================================ */
@@ -94,17 +96,17 @@
 /* ============================================================================ */
 [data-theme="dark"] {
   --page-bg: #0f1115;
-  --text-color: rgba(255,255,255,.9);
-  --muted-color: rgba(255,255,255,.7);
-  --border-color: rgba(255,255,255,.15);
+  --text-color: rgba(255, 255, 255, .9);
+  --muted-color: rgba(255, 255, 255, .7);
+  --border-color: rgba(255, 255, 255, .15);
   --surface-bg: #12151b;
   --code-bg: #12151b;
-  --transparent-page-contrast: rgba(0,0,0,.85);
-  
+  --transparent-page-contrast: rgba(0, 0, 0, .85);
+
   /* Charts (global) */
   --axis-color: var(--muted-color);
   --tick-color: var(--muted-color);
-  --grid-color: rgba(255,255,255,.10);
+  --grid-color: rgba(255, 255, 255, .10);
 
   /* Primary (lower L in dark) */
   --primary-color: oklch(from var(--primary-base) calc(l - 0.08) c h);