State Estimation Engineer - Data Collection Systems

Figure is an AI Robotics company autonomous general-purpose humanoid robots. The goal of the company is to ship humanoid robots with human level intelligence. Its robots are engineered to perform a variety of tasks in the home and commercial markets. We are based in North San Jose, CA and require 5 days/week in-office collaboration. It’s time to build. We are looking for a State Estimation Engineer to own the architecture, algorithm development, and calibration workflows for a next-generation data collection system. This system powers two core capabilities: low-latency real-time teleoperation of our humanoid robots and ultra-high-precision offline trajectory reconstruction for data collection and policy training. You will build and deploy dual-tier estimation pipelines and user-onboarding calibration routines that fuse heterogeneous sensor modalities to track full-body human kinematics and floating-base motion across dynamic tasks. Key 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 whenever a user equips the system. 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 f