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Guining Pertin
M.S Robotics, KAIST
Senior Engineer, Enphase Energy
B.Tech ECE, IIT Guwahati
Hello There!
Welcome to my portfolio site,
I recently graduated as a Masters student in The Robotics Program from KAIST, South Korea where I also worked as a Graduate Research Assistant at Control Lab under Professor Dong Eui Chang. I completed my B.Tech in Electronics and Communication Engineering from IIT Guwahati, India in 2021, and was a Senior Engineer at Enphase Energy, India before I joined graduate studies.
My interests lie primarily in nonlinear systems, reinforcement learning, data-driven control and developing simulation models for the same. Other than research and engineering, I love teaching, reading, music, badminton and video games. If you want to search for specific keywords through all my projects, please use this big ol' search bar:
Recent Updates
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August 2026: My first authored paper G. Pertin, D. E. Chang, “NST-RL: Residual Reinforcement Learning with Approximate Optimal Regulation for Robust Drone Control,” has been accepted for publication in IEEE Robotics and Automation Letters (Q1 Robotics) and will be presented at ICRA 2027. Link: https://ieeexplore.ieee.org/document/11673302
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July 2026: My first authored paper G. Pertin, D. E. Chang, “Disturbance-Aware RL-PID with LLM Guidance for Robust Manipulator Control,” has been accepted for publication at International Conference on Control, Automation, and Systems 2026.
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February 2026: I completed my MS at KAIST.
Featured Projects
Master's Thesis: Foundations
This project explores and designs different approaches to involve physical knowledge (or model-based designs) into purely learning-based paradigms to improve sample efficiency and robustness for both drones and manipulators.
Master's Thesis: Differentiable Simulations
This section of my Master's thesis considers a relatively new approach for accelerated policy learning by directly backpropagating gradients through the simulation steps, using the new Nvidia Newton physics engine.
SleeperAgent: Dreaming from a third perspective
This project considers a new approach to utilize wrist-only (or ego) images from manipulators to predict the 3rd person views through novel view synthesis to improve performance along with Dreamer-V3 world-model based RL.
Bachelor's Thesis: Multi-agent multi-objective optimization using deep Q-learning
My BTech thesis on exploring multi-agent reinforcement learning by combining classical path planning and coordinated learning for the agents through a novel state representation with branched DDQN algorithm.
MoPAT Mk. V: Motion Planning Algorithms Testbed
A ROS2 based open-source, low-cost robot with 2D motion capture platform. The original version used ArUco tags for an inter-hostel competition I hosted, but the final version uses RGB LED patterns to localize and track multiple robots.
Project Zenith: Multi-UAV search and rescue
An event hosted by the Defence Research and Development Organisation for autonomous search-and-rescue missions using multi-UAV swarm for accurate detection and GPS localization of targets. Our team won SILVER.