Senior Controls Engineer, State Estimation

Figure is an AI Robotics company developing a general purpose humanoid. Our Humanoid is designed for corporate tasks targeting labor shortages and jobs that are undesirable or unsafe. We are based in Sunnyvale, CA and require 5 days/week in-office collaboration. It’s time to build.

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.

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

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