Frozen simulation results: knowledge-guided TBM disc-cutter replacement planning

Frozen simulation results from the knowledge-guided motion planning evaluation on tunnel boring machine (TBM) disc-cutter replacement across nine scene variants. The package provides 828 paired trajectory tasks (knowledge-guided versus from-scratch) and 158,760 point-level configuration queries, together with aggregated JSON summaries for the manuscript tables and figures. Scene parameters, outcome mixes, failure taxonomy counts, baseline-scene ablations, reference Success@K coverage, and an offline guided-budget replay are included; joint trajectories, collision meshes, and the WRS planning platform are not distributed.本数据集包含针对隧道掘进机（Tunnel Boring Machine, TBM）盘形滚刀更换任务的知识引导运动规划评估所生成的冻结仿真结果，共覆盖九种场景变体。本数据包包含828组成对轨迹任务（知识引导规划方案与从零开始规划方案的对比）以及158760个点级配置查询，同时附带用于生成论文表格与插图的汇总JSON摘要文件。数据集包含场景参数、结果分布、故障分类统计量、基线场景消融实验数据、参考Success@K覆盖范围以及离线引导预算重放数据；但未提供联合轨迹、碰撞网格以及WRS规划平台相关内容。