Senior Staff Software Engineer, Motion Planning

Agility Robotics is pioneering a new era of automation with its commercially deployed humanoids that enhance human potential. They are seeking a Senior Staff Software Engineer to lead the motion planning efforts for their humanoid robots, focusing on developing algorithms and systems for collision-free motion planning and collaboration with various technical teams.

Responsibilities:

• Own and drive the technical roadmap for collision-free motion planning across whole-body motion, manipulation, grasping, and loco-manipulation
• Design, implement, test, and deploy motion planning and trajectory optimization algorithms for humanoid robots
• Architect motion planning systems for modularity, observability, and clean integration with perception, state estimation, and control
• Develop algorithms robust to environmental uncertainty and imperfect state estimation
• Lead cross-team architectural decisions and collaborate with autonomy, controls, and behaviors teams to solve complex system-level problems

Requirements:

• Experience developing and deploying manipulation algorithms on high-DOF robots
• Industry experience deploying mobile manipulation robots in real-world commercial applications
• Proven expertise in sample-based motion planning, trajectory optimization, and model predictive control (MPC) with a track record of shipping these algorithms to production
• Expertise developing planning and optimization algorithms subject to geometric and kinodynamic constraints, including contact, friction, and collision
• Deep mathematical fundamentals in search and numerical optimization, including convex and non-convex problem formulation
• Expertise in modern C++ (C++17/20) and Python for high-performance, multithreaded, real-time robotics applications
• Track record architecting large-scale autonomy systems and defining clean interfaces across perception, estimation, planning, and control
• Demonstrated technical leadership: setting direction for complex robotics systems, owning architecture, and mentoring senior engineers
• Experience working with humanoid (or similar) robots
• Experience with loco-manipulation: combined planning of locomotion and manipulation
• Experience with whole-body model predictive control or whole-body trajectory optimization
• Experience with task and motion planning (TAMP) under uncertainty
• Experience leveraging machine learning or offline trajectory optimization to accelerate online planning
• Experience with perception and scene understanding as it pertains to motion planning
• Publications in top robotics venues (RSS, ICRA, IROS, etc.)