Sr. Software Engineer – Real-Time Controls

ESSENTIAL DUTIES AND RESPONSIBILITIES or KEY ACCOUNTABILITIES

• Deliver production-grade real-time C++ software infrastructure
• Integrate low-level firmware data with high-level controls logic over real-time task graphs
• Implement and tune state estimation (IMU, kinematic, odometry fusion) and diagnostic monitors that map sensor faults to DTCs
• Characterize and improve the quality of robot kinematics, estimation, and actuation
• Bring up new robot embodiments
• Integrate learned policies (RL locomotion / motion imitation) into the real-time controls stack
• Perform root-cause analysis for complex hardware-software integration issues
• Develop API for controls and autonomy systems to interact with robot hardware and simulation
• Maintain comprehensive and accurate architecture and design documentation, including HIL and simulation test coverage
• Deliver reliable software through code reviews, continuous integration, and automated testing

SKILLS AND REQUIREMENTS

• Technical Skills: Strong modern C++, OOP skills, multi-threading, and Linux application development
• Deep knowledge of robotics fundamentals (kinematics, dynamics, controls, estimation, and system identification), with bonus points for hands-on experience with floating-base dynamics, contact/constraint modeling, or sensor fusion
• Understanding of rigid-body motion and frame transformations
• Comfortable in CMake + colcon ROS2 workspaces
• Familiarity with at least some of: MuJoCo, Drake, Eigen, ROS2, Flatbuffers, BehaviorTree.CPP
• Experience leading hardware-in-the-loop or simulation-based testing of control software
• Familiarity with software testing methodologies and version control (e.g., Git)
• Strong communication skills and familiarity with Agile processes (sprint planning, design/code reviews)

EDUCATION and/or EXPERIENCE

• Education: BS, MS, or PhD in relevant fields (Computer Science, Robotics, Electrical Engineering, etc.)
• Experience: 5+ years of robotics software development

PHYSICAL REQUIREMENTS

• Prolonged periods of sitting at a desk and working on a computer
• Must be able to lift 15 pounds at times.
• Vision to read printed materials and a computer screen.
• Hearing and speech to communicate.