Hello, I'm

I Made Aswin Nahrendra

Research Scientist at KRAFTON AI

I am a research scientist in KRAFTON AI’s Physical AI team. Previously, I was a postdoctoral researcher in the Urban Robotics Lab., KAIST, where I also obtained my Ph.D in the School of Electrical Engineering and Robotics Program, KAIST, working with Prof. Hyun Myung. My current research focuses on control, reinforcement learning, and the interplay between them for highly resilient legged robotics applications.

View Research Background

Scroll

Education

Ph.D.

Electrical Engineering and Robotics Program

Korea Advanced Institute of Science and Technology, South Korea

Sep. 2019 - Feb. 2024

M.S.

Electrical Engineering

Bandung Institute of Technology, Indonesia

Aug. 2018- Jul. 2019

B.S.

Electrical Engineering

Bandung Institute of Technology, Indonesia

Aug. 2014 - Jul. 2018

Research Experience

Research Scientist

KRAFTON AI, Rep. of Korea

Physical AI Team

Sep. 2025 - present

Postdoctoral Researcher

KAIST, Rep. of Korea

Urban Robotics Lab.

Sep. 2024 - Sep. 2025

Research Intern

Sony AI, Japan

Robot Gastronomy Team

Jan. 2024 - Jul. 2024

Graduate Research Assistant

KAIST, Rep. of Korea

Urban Robotics Lab.

Sep. 2019 - Feb. 2024

Research Highlights

DreamWaQ++: Obstacle-aware Quadrupedal Locomotion with Resilient Multi-modal Reinforcement Learning

I Made Aswin Nahrendra, Byeongho Yu, Minho Oh, Dongkyu Lee, Seunghyun Lee, Hyeonwoo Lee, Hyungtae Lim, and Hyun Myung

IEEE T-RO, 2025 (IF: 10.5)

Versatile Legged Locomotion Adaptation through Vision-Language Grounding

I Made Aswin Nahrendra, Seunghyun Lee, Dongkyu Lee, and Hyun Myung

SafeVLMs Workshop @ ICRA, 2025

A Unified and Modular ROS Framework for Sim-to-Sim-to-Real Transfer in Embodied AI

I Made Aswin Nahrendra, Seunghyun Lee, and Hyun Myung

DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning

I Made Aswin Nahrendra, Byeongho Yu, and Hyun Myung

IEEE ICRA, 2023

Robust Recovery Motion Control for Quadrupedal Robots via Learned Terrain Imagination

I Made Aswin Nahrendra, Minho Oh, Byeongho Yu, Hyungtae Lim, and Hyun Myung

RSS Workshop, 2023

Retro-RL: Reinforcing Nominal Controller with Deep Reinforcement Learning for Tilting-Rotor Drones

I Made Aswin Nahrendra, Christian Tirtawardhana, Byeongho Yu, Eungchang Mason Lee, and Hyun Myung

IEEE RA-L, 2022 (IF: 5.3) · IEEE IROS, 2022 [Oral]

Selected Publications

TRG-planner: Traversal Risk Graph-Based Path Planning in Unstructured Environments for Safe and Efficient Navigation

Dongkyu Lee, I Made Aswin Nahrendra, Minho Oh, Byeongho Yu, and Hyun Myung

IEEE RA-L, 2025 (IF: 5.3)

LVI-Q: Robust LiDAR-Visual-Inertial-Kinematic Odometry for Quadruped Robots Using Tightly-Coupled and Efficient Alternating Optimization

Kevin Christiansen Marsim, Minho Oh, Byeongho Yu, Seungjae Lee, I Made Aswin Nahrendra, Hyungtae Lim, Hyun Myung

IEEE RA-L, 2025 (IF: 5.3) · IEEE IROS, 2025 [Oral]

DreamFLEX: Learning Fault-Aware Quadrupedal Locomotion Controller for Anomaly Situation in Rough Terrains

Seunghyun Lee, I Made Aswin Nahrendra, Dongkyu Lee, Byeongho Yu, Minho Oh, and Hyun Myung

IEEE ICRA, 2025

Learning Resilent Blind Locomotion Controller for Humanoid Robots using Deep Reinforcement Learning

Seunghyun Lee, Dongkyu Lee, Byeongho Yu, I Made Aswin Nahrendra, Hyun Myung

IEEE Humanoids Workshop, 2025

Chamelion: Reliable Change Detection for Long-Term LiDAR Mapping in Transient Environments

Seoyeon Jang, Alex Junho Lee, I Made Aswin Nahrendra, and Hyun Myung

CoRL Workshop, 2025

3D LiDAR Map-Based Robust Localization System Leveraging Pose Divergence Detection and Relocalization

Seungjae Lee, Minho Oh, I Made Aswin Nahrendra, Wonho Song, Byeongho Yu, Kevin Christiansen Marsim, Dongwan Kang, and Hyun Myung

IEEE UR, 2024

TOSS: Real-time Tracking and Moving Object Segmentation for Static Scene Mapping

Seoyeon Jang, Minho Oh, Byeongho Yu, Seungjae Lee, I Made Aswin Nahrendra, Hyungtae Lim, and Hyun Myung

RiTA, 2023 · Best Paper Award

Awards

Autonomous Quadrupedal Robot Challenge in ICRA 2023, London

Role: Robust locomotion control using DreamWaQ and DreamRiser

Winner

Team DreamStep of KAIST

KROC 2023 RED Show

Autonomous Flying Drone for Unmanned Reconnaissance in Cluttered Situations

Role: Design and control of collision-robust drone platform

Best Work Award

Team QAIST++ of KAIST

Future Challenge Defense Technology Contest 2022

Role: Design and control of collision-robust drone platform

The Only Team that Finished the Whole Course

Team QAIST++ of KAIST

IEEE ICRA 2023 RAS Travel Grant

Other Publications

Development of Perching and Fail-Safe Module for Wall Climbing Multi-Copter

Taewan Kim, Christian Tirtawardhana, Byeongho Yu, I Made Aswin Nahrendra, Seok-Tae Kim, and Hyun Myung · RiTA, 2022
A Robust State Estimator for Legged Robots using Visual-Inertial-Leg Kinematics Information in the Wild

Byeongho Yu, Yeeun Kim, Jinwoo Jeon, I Made Aswin Nahrendra, and Hyun Myung · ICCAS, 2022
Development of Cleaning Module for Wall Climbing Drone with Bio-inspired Watering Mechanism

Taewan Kim, Christian Tirtawardhana, Byeongho Yu, I Made Aswin Nahrendra, and Hyun Myung · ICCAS, 2022
Segmented Encoding for Sim2Real of RL-Based End-To-End Autonomous Driving

Seung-Hwan Chung, Seung-Hyun Kong, Sangjae Cho, I Made Aswin Nahrendra · IEEE IVS, 2022
Enhanced Off-Policy Reinforcement Learning With Focused Experience Replay

Seung-Hyun Kong, I Made Aswin Nahrendra, Donghee Paek (*Equal contribution) · IEEE Access, 2021
Adaptive Control of Cyber-Physical Distillation Column Using Data Driven Control Approach

I Made Aswin Nahrendra, Pranoto Hidaya Rusmin, Egi Muhammad Idris Hidayat · IEEE ICEEI, 2019
Engine Control Unit for 2 Stroke Internal Combustion Engine on Medium Altitude Unmanned Aerial Vehicle

I Made Aswin Nahrendra, Widyawardana Adiprawita, Adrian Susanto, Stefanus Kevin Hadinata · IEEE ISESD, 2018

Academic Services

Reviewer

RA-L (2023-2025), CoRL (2024-2025), ICRA (2025-2026), IROS (2025)