Senior Controls Engineer

2 weeks ago


Sunnyvale, California, United States Figure Full time
Senior State Estimation Engineer

Figure is an AI Robotics company developing a general-purpose humanoid robot. We are based in Sunnyvale, CA, and require 5 days/week in-office collaboration. It's time to build.

About the Role

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

Responsibilities
  • Design and develop C++ code to support state estimation of a dynamic humanoid robot, including contact estimation, interaction force estimation, and floating-base pose and velocity.
  • Collaborate with the controls, motion planning, manipulation, and 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.


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