Senior Simulation Engineer – RL & Robotic Manipulation

Humanoid; Greater London; On-site; GBP 85,000 - 110,000; Full time

Benefits offered by this job

Stock options equity

30+ paid days off (UK)

Private healthcare

Pension scheme with employer match

Free daily breakfast & snacks

In-office collaboration with engineers

Direct access to founding leadership

Job summary

Humanoid in London is seeking a Senior Simulation Engineer to build and maintain physics-based simulation environments for dexterous manipulation tasks, spanning industrial, service, and home domains. This role centers on simulation and reinforcement learning, with emphasis on realistic physics and transferable policies.

You will optimize sim-to-real transfer, tune simulation parameters, work with 3D assets, and help scale training infrastructure.

Qualifications

• 3+ years building simulation environments or game-engine-based interactive systems with shipped products or equivalent artifacts.
• Deep hands-on experience with at least one physics simulator (Isaac Sim/IsaacLab, MuJoCo, PyBullet, Drake) or equivalent game engine experience (Unreal, Unity) with a focus on physically accurate interactions.
• Strong practical experience running large-scale parallel simulation on GPU clusters and familiarity with modern GPU-accelerated simulation infrastructure.
• Strong Python; you can profile bottlenecks, debug physics issues, and write maintainable research code.
• Familiarity with modern software engineering practices.
• You document experiments clearly and communicate trade-offs crisply.

Responsibilities

• Design and implement gym environments for manipulation tasks spanning industrial, service, and home settings, defining appropriate observation spaces, action spaces, and reward functions.
• Analyze and address reward hacking - identify cases where learned policies exploit reward misspecification and iterate on reward design to produce robust behaviors.
• Analyze and reduce the sim-to-real gap by tuning physics parameters, improving asset fidelity, and validating simulation behavior against real-world data.
• Work with third-party vendors to procure, validate, and integrate high-quality 3D assets suitable for physics-based simulation.
• Ensure correct physics setup - contact dynamics, friction, mass properties, joint limits - so that trained policies transfer reliably to hardware.
• Identify and reduce simulation bottlenecks to maximize training throughput and environment step rates.
• Improve our simulation-based evaluation and reinforcement learning infrastructure to support rapid iteration and scaling.

Skills

Simulation environments

Physics simulators / game engines

GPU-accelerated simulation

Python programming

Software engineering practices

Experiment documentation

Tools

Unreal Engine

Unity

Job description

Humanoid in London is seeking a Senior Simulation Engineer to build and maintain physics-based simulation environments for dexterous manipulation tasks, spanning industrial, service, and home domains. This role centers on simulation and reinforcement learning, with emphasis on realistic physics and transferable policies.

You will optimize sim-to-real transfer, tune simulation parameters, work with 3D assets, and help scale training infrastructure.