Real-Time State Estimation Engineer for Humanoid Teleoperation

Figure; San Jose (CA); On-site; USD 150,000 - 300,000; Full time

Job summary

Figure is seeking a State Estimation Engineer to own the architecture, algorithm development, and calibration workflows for a next-generation data collection system powering real-time teleoperation and offline trajectory reconstruction across dynamic tasks.

You will build dual-tier estimation pipelines, fuse diverse sensor modalities, and contribute to hardware and software design while driving accuracy and latency improvements on our in-house humanoid robotics platform.

Qualifications

• 4+ years of hands-on experience with multi-sensor fusion for dynamic hardware.
• Real-time EKFs/SLAM-like filters and offline batch optimization.
• Calibration workflows for multi-sensor suites.
• Strong 3D math: SE(3)/SO(3), forward/inverse kinematics.

Responsibilities

• Design and implement dual-tier state estimation algorithms in modern C++: low-latency, real-time filters for streaming teleoperation and batch optimization/smoothing routines for high-accuracy offline dataset generation.
• Own and develop subject-calibration procedures, designing rapid, intuitive routines to estimate individual body segment dimensions, joint offsets, and sensor-to-body extrinsics.
• Develop robust sensor fusion architectures combining spatial transforms, visual-inertial data, and inertial signals into full-body kinematic pose estimates.
• Address spatiotemporal sensor calibration, dynamic environmental interference, and kinematic constraint enforcement on human skeletal models.
• Develop techniques to extract useful information from compliant tactile sensing in the presence of large sensor deformation, stretching or folding.
• Diagnose and understand limitations of existing hardware or designs and inform future design requirements.
• Evaluate novel sensing modalities to inform future hardware designs.
• Build diagnostic tooling, validation pipelines, and error analysis workflows to evaluate accuracy for both online and offline algorithms.

Skills

Multi-sensor fusion

State estimation

C++

Python

Embedded/edge computing

Data analysis

Kinematics

Education

B.S. in Engineering

Tools

GTSAM

Ceres Solver

Kinematic libraries

Job description

Figure is seeking a State Estimation Engineer to own the architecture, algorithm development, and calibration workflows for a next-generation data collection system powering real-time teleoperation and offline trajectory reconstruction across dynamic tasks.

You will build dual-tier estimation pipelines, fuse diverse sensor modalities, and contribute to hardware and software design while driving accuracy and latency improvements on our in-house humanoid robotics platform.