QuadKAN: KAN-Enhanced Quadruped Motion Control via End-to-End Reinforcement Learning

Description

We address vision-guided quadruped motion control with reinforcement learning (RL) and highlight the necessity of combining proprioception with vision for robust control. We propose QuadKAN, a spline-parameterized cross-modal policy instantiated with Kolmogorov-Arnold Networks (KANs). The framework incorporates a spline encoder for proprioception and a spline fusion head for proprioception-vision inputs. This structured function class aligns the state-to-action mapping with the piecewise-smooth

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