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FIGURE

Industry:
Humanoid Robotics
Location:
Job Type:
Controls
Senior Controls Engineer, State Estimation
Pay Range:
$140000 to
$250000
Job Description:

We are looking for a Senior State Estimation Engineer. You will own the development of new state estimation & sensor fusion algorithms for our humanoid robot, working both in simulation and on hardware with the goal of providing real-time estimates for control, enabling precise localization of the robot in the world, and sensing the robot’s interaction both with manipulated objects and its environment.

Job Responsibilities:
  • Design and develop C++ code to support state estimation of a dynamic humanoid robot, e.g.:
    • Contact estimation
    • Interaction force estimation
    • Floating-base pose & velocity
  • Collaborate with the controls, motion planning, manipulation & perception teams to understand needs and develop state of the art techniques to solve real-world state estimation challenges
  • Test, evaluate, define performance metrics and perform failure analysis of the algorithms to  improve the robot’s ability to solve real world problems
Job Requirements:
  • 4+ years of experience building state of the art state estimation solutions for real-time robotic systems such as (E)KFs, Particle Filters, Factor Graphs, Bayesian Estimation, etc.
  • Experience working with various sensors, including encoders, torque sensors, IMUs, etc.
  • Understanding of spatial kinematics, dynamics and related mathematical concepts
  • A proven track record iterating on complex state-estimation problems including problem definition, deployment, testing, data-analysis, debugging, and evaluation
  • Fluency in modern C++ and Python
Bonus Qualifications:
  • Prior experience working on legged robotics
  • Experience with Machine Learning (ML) as it relates to state-estimation
Salary:

The US base salary range for this full-time position is between $140,000 – $250,000 annually.

The pay offered for this position may vary based on several individual factors, including job-related knowledge, skills, and experience. The total compensation package may also include additional components/benefits depending on the specific role. This information will be shared if an employment offer is extended.

Apply on FIGURE Website
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