State Estimation Engineer - Data Collection Systems
Core
Design and implement dual-tier state estimation algorithms for a next-generation data collection system powering real-time teleoperation and ultra-high-precision offline trajectory reconstruction for humanoid robots.
Role type
Senior IC state estimation engineer (robotics)
Builds
Dual-tier estimation pipelines and user-onboarding calibration routines for humanoid robot data collection systems
Domain
Robotics, Humanoid robots, Sensor fusion
Deliverable
production ML models | product features
Required skills
Real-time filtering ((E)KFs, sliding-window estimators), Offline batch optimization (Factor Graphs, GTSAM, Ceres, Non-Linear Least Squares), Multi-sensor fusion architectures, 3D spatial kinematics, Lie groups (SE(3), SO(3)), Forward/inverse kinematics, Constrained optimization, High-performance C++ for embedded/edge platforms, Python for data analysis
Preferred skills
Low-latency streaming pipelines for teleoperation/haptics, Human biomechanics/skeletal tracking, Machine Learning for motion priors/trajectory smoothing
Technologies
C++, Python, GTSAM, Ceres
Responsibilities
Design and implement dual-tier state estimation algorithms for real-time teleoperation and offline dataset generation; Develop subject-calibration procedures to estimate body segment dimensions and sensor-to-body extrinsics; Develop robust sensor fusion architectures combining spatial transforms, visual-inertial data, and inertial signals; Address spatiotemporal sensor calibration and kinematic constraint enforcement; Extract information from compliant tactile sensing; Diagnose hardware limitations and evaluate novel sensing modalities; Build diagnostic tooling and validation pipelines for algorithm accuracy evaluation
Seniority
Senior, hands-on IC
