\begin{table}
\caption{CoPhy CollisionCF_4 stable external diagnostic evaluation.}
\label{tab:supp_cophy_collisioncf4_stable}
\begin{tabular}{llrrrrrr}
\toprule
Setting & Model & Rollout ADE ↓ & Rollout FDE ↓ & Best Edge F1 ↑ & Edge AP ↑ & Edge ROC-AUC ↑ & True Edge Rate \\
\midrule
AB normal rollout & nograph & 0.025 & 0.060 & 0.000 & 0.140 & 0.500 & 0.140 \\
AB normal rollout & dynamic & 0.033 & 0.089 & 0.348 & 0.166 & 0.627 & 0.140 \\
AB normal rollout & static & 0.037 & 0.101 & 0.399 & 0.280 & 0.752 & 0.140 \\
CD counterfactual rollout & nograph & 0.025 & 0.059 & 0.000 & 0.136 & 0.500 & 0.136 \\
CD counterfactual rollout & dynamic & 0.033 & 0.087 & 0.351 & 0.163 & 0.635 & 0.136 \\
CD counterfactual rollout & static & 0.036 & 0.099 & 0.397 & 0.273 & 0.747 & 0.136 \\
\bottomrule
\end{tabular}
\end{table}