Real-Time State Estimation Engineer – Humanoid Robotics

figure.ai; San Jose, Northern (CA, KY); Hybrid; USD 150,000 - 300,000; Full time

Job summary

Figure in San Jose, CA is seeking a State Estimation Engineer to own the architecture, calibration workflows, and sensor-fusion for a next-generation data collection system powering real-time teleoperation and offline trajectory reconstruction.

You will build and deploy dual-tier estimation pipelines in modern C++ and lead rapid calibration routines for multi-sensor suits, enabling accurate full-body kinematics across dynamic tasks.

Qualifications

• 4+ years of experience building multi-sensor fusion and state estimation for dynamic hardware.
• Hands-on expertise with real-time filtering (EKF/IFKF) and offline batch optimization (Factor Graphs, GTSAM, Ceres).
• Proven calibration, zeroing, and alignment workflows for multi-sensor suites and kinematic models.
• Deep foundation in 3D spatial kinematics, SE(3)/SO(3), forward/inverse kinematics, and constrained optimization.
• C++ for embedded/edge computing and Python for data analysis and visualization.

Responsibilities

• Design and implement dual-tier state estimation algorithms for real-time teleoperation and offline reconstruction.
• Own calibration procedures to estimate body segment dimensions, joint offsets, and sensor-to-body extrinsics.
• Develop sensor fusion architectures combining visual-inertial data and inertial signals for full-body pose.
• Address calibration, environmental interference, and kinematic constraint enforcement on skeletal models.
• Develop techniques to extract information from tactile sensing under large deformations.
• Diagnose hardware limitations and inform future design requirements.
• Evaluate novel sensing modalities to guide hardware roadmap.
• Build diagnostics tooling, validation pipelines, and error analysis for online/offline algorithms.

Skills

Multi-sensor fusion

State estimation

C++

Python

EKF

GTSAM

Ceres

Non-Linear optimization

Kalman filters

Tools

GTSAM

Ceres

Factor Graphs

Job description

Figure in San Jose, CA is seeking a State Estimation Engineer to own the architecture, calibration workflows, and sensor-fusion for a next-generation data collection system powering real-time teleoperation and offline trajectory reconstruction.

You will build and deploy dual-tier estimation pipelines in modern C++ and lead rapid calibration routines for multi-sensor suits, enabling accurate full-body kinematics across dynamic tasks.