Nesting the requests to build the objects would work:
IN.API.Raw("/people-search:(people:(id,first-name,last-name,email-address,industry,summary,group-memberships,num-connections,headline))?first-name=ramesh&last-name=kotha&count="+25)
.result(function(result, metadata) {
console.log(result);
for(person in result.people.values){
console.log(person);
IN.API.Raw()
.url("/people/" + result.people.values[person].id + "/group-memberships:(group:(id,name),membership-state)")
.result(function(result, metadata){
console.log(result);
});
}
})