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State Estimation Engineer, Data Collection Systems

Figure· Controls
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San Jose, CA$150k - $300kfull-timePosted 2mo ago

About the role

Figure is an AI robotics company developing autonomous humanoid robots. This role owns the architecture, algorithm development, and calibration workflows for a next-generation data collection system powering real-time teleoperation and offline trajectory reconstruction for policy training.

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 future hardware designs.
  • Build diagnostic tooling, validation pipelines, and error analysis workflows to evaluate accuracy for both online and offline algorithms.

Qualifications

  • 4+ years of experience building multi-sensor fusion and state estimation solutions for dynamic hardware systems.
  • Hands-on expertise with both real-time filtering techniques ((E)KFs, sliding-window estimators) and offline batch optimization tools (Factor Graphs, GTSAM, Ceres, Non-Linear Least Squares).
  • Proven capability to design fast, reliable calibration, zeroing, and alignment workflows for multi-sensor suites and kinematic models.
  • Deep mathematical foundation in 3D spatial kinematics, Lie groups (SE(3), SO(3)), forward/inverse kinematics, and constrained optimization.
  • Proven ability to write high-performance, modular C++ for embedded or edge computing platforms alongside Python for data analysis and visualization.

Skills

Required:Multi-sensor fusionReal-time state estimationOffline optimization toolsCalibration workflowsC++Python3D kinematics and Lie groups

Benefits

  • The US base salary range for this full-time position is $150,000 to $300,000 per year.
  • The pay offered for this position may vary based on several individual factors, including job-related knowledge, skills, and experience. The total compensation package may also include additional components/benefits depending on the specific role. This information will be shared if an employment offer is extended.
Last updated Oct 7, 2026. Interested? Apply on the company site.

About Figure

The future of home help is here

Figure is the first-of-its-kind AI robotics company bringing a general purpose humanoid to life.

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