CSIRO does "basic research", but depending on what department you are in, project terms are limited and projects are focused on finding a way out of the building.
The projects I worked on were all on tight budgets and deadlines with the goal of finding a way to commercialize the research.
That being said, I'm not a researcher and my job was finding/developing a commercialization path for existing research.
DARPA will fund that too, but almost always only as part of a larger applied research project. DARPA project deliver working systems.
DARPA projects are also always limited term, without renewals. That gives a deadline, which is different to most research agencies.
(ex-PM for a research agency that worked with *ARPA here. Most of the non-DARPA US *ARPA agencies aren't as effective as DARPA itself though).