D3IL avoiding-v0 results

Measured with this folder's code and checkpoints/model_ema_10.pth. These are the numbers to reproduce, and the ones the paper's Table 3 reports.

100 episodes per method, seed 0, at most 100 environment steps, planning horizon H = 16, replanning every 4 executed steps.
Twelve constraints (D3IL_HARD=1): the nine of the shipped novel set plus the three keep-outs upstream ships commented out.
All ten policies sample from the same planner trained here (500k steps, batch 32), so differences are the planners', not the model's.
SR is the safety rate, TS the task-success rate. "Steps (safe)" averages the episode length over the safe episodes only, so a method with SR 0 has none.

Method	SR ↑	TS ↑	Steps (safe) ↓	Violations ↓	Time (s) ↓
Diffuser (unconstrained)	0.01	0.89	61.00 ± 0.00	14.31	0.09
Classifier Guidance	0.00	0.01	—	5.50	0.17
Gradient Guidance	0.24	0.97	62.96 ± 7.27	4.35	1.16
Projected Diffusion	0.45	0.79	65.18 ± 8.09	2.19	7.16
[Primal-Dual]	0.05	0.00	100.00 ± 0.00	10.21	0.74
[Augmented Lagrangian]	0.00	0.00	—	25.38	0.79
SafeDiffuser-RoS	0.06	0.20	67.50 ± 6.55	3.73	7.34
SafeDiffuser-ReS	0.24	0.65	62.17 ± 5.10	3.97	5.44
SafeDiffuser-TVS	0.02	0.95	58.50 ± 1.50	13.54	5.26
DiRecT	0.87	0.97	61.38 ± 4.84	0.34	3.72

Reproducing

data_prep/fit_dynamics.sh                 # seconds, CPU
run/run_baseline.sh direct 0 100          # one policy
run/run_all.sh 0                          # all ten, Table 3

Compare runs/avoiding-v0/eval/<exp-name>/summary.json against the table. Agreement should be close but not bit-exact across machines: avg_computation_time is wall clock, and SR at 100 episodes still carries a standard error of about 0.05 at mid-range rates.

What the brackets mean

[Primal-Dual] and [Augmented Lagrangian] need --guidance-last-steps 50. At the default both crash the simulator, so their rows are bracketed in the paper: they are reported, but under a setting the other methods did not need. run/run_baseline.sh passes the flag for those two only.

Traps

D3IL_HARD=1 is the whole difference between this table and the nine-constraint runs. Without it the same code gives a different table -- e.g. DiRecT reads safety 0.97 rather than 0.87.
--diffusion-cp 10 selects model_ema_10.pth. Another checkpoint index is a different model and will not reproduce these numbers.
WANDB_MODE=disabled, or train.py waits for a login.
The dataset is vendored in DiRecT/d3il/environments/dataset/data/avoiding/ (96 expert episodes); nothing is downloaded.