My company requires that we achieve our estimates to within 30% of forecast. Typically, clients (any my business is no different) expect that they'll get their product as soon as possible for the lowest cost ("I want all the features delivered yesterday for free").
As part of my team's development iterations, we are required to estimate on new features that might have a number of possible approaches. While I would like to explore new and better ways to tackle a given problem, usually it is very hard to justify what might appear as simply playing around to a project manager.
Do you allow for R&D in your development estimate and if so, how to you allocate that time?
Do you explicitly provide for it or do you wrap it up (i.e. obfuscate it) in your overall development time?