Senior Staff Software Engineer, Motion Planning

Agility Robotics develops commercially deployed humanoid robots that work alongside people in warehouses, manufacturing facilities, and distribution centers. The Senior Staff Software Engineer will lead the technical direction for collision-free motion planning, designing and deploying planning and trajectory optimization algorithms while architecting reliable autonomy systems and guiding cross-team technical decisions.

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
• This is a fully remote role with the option to work hybrid if a commutable distance from our Salem, OR, Pittsburgh, PA, or Fremont, CA offices
• All of our roles are U.S.-based. Applicants must have current authorization to work in the United States
• 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. )