\definecolor{hf1}{HTML}{FFD220}
\definecolor{hf2}{HTML}{FF8360}
\definecolor{hf3}{HTML}{2D728F}
\definecolor{hf4}{HTML}{B5DFCA}
\definecolor{hf5}{HTML}{BABFD1}

\newcommand{\highlight}[1]{\textcolor{hf2}{#1}}

\newcommand{\lerobot}{\texttt{lerobot}}
\newcommand{\FK}{\text{FK}}
\newcommand{\targetvel}{\dot {p}^*}
\newcommand{\targetpos}{p^*}

\newcommand{\statespace}{\mathcal S}
\newcommand{\actionspace}{\mathcal A}
\newcommand{\obsspace}{\mathcal O}
\newcommand{\dynamics}{\mathcal D}
\newcommand{\stateplusone}{s_{t+1}}
\newcommand{\state}{s_t}
\newcommand{\action}{a_t}
\newcommand{\transition}{(\state, \action, \stateplusone)}
\newcommand{\sars}{(\state, \action, r_t, \stateplusone)}
\newcommand{\transitiongiven}{(\stateplusone \vert \state, \action)}
\newcommand{\transitionprob}{\mathbb P \transitiongiven}
\newcommand{\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)}
\newcommand{\Jpi}{J (\pi_\theta) }
\newcommand{\qfunction}{\(Q\)-function}
\newcommand{\qopt}{\( Q^* \)}

\newcommand{\supp}[1]{\operatorname{supp}({#1})}
\newcommand{\DKL}{\text{D}_{\text{KL}}}

\newcommand{\actionchunk}{\mathbf{A}}
\newcommand{\actionexpert}{\mathbf{v}_\theta}
\newcommand{\pizero}{\( \pi_0 \)}

% TL;DR boxes at the beginning of each chapter
\newtcolorbox{callout}[2][]{
  enhanced, breakable,
  colback=hfbackground, opacityback=0.85,
  colframe=ai2accent, boxrule=0.6pt, arc=2mm,
  left=8pt, right=8pt, top=8pt, bottom=8pt,
  before skip=10pt, after skip=10pt,
  fonttitle=\sffamily\bfseries,
  title={\sffamily\bfseries #2},
  #1
}

% Convenience environment for TL;DR
\newenvironment{tldr}[1][TL;DR]{\begin{callout}{#1}}{\end{callout}}

\newcommand{\lerobotdataset}{\texttt{LeRobotDataset}}