State Estimation Engineer - Data Collection Systems (Robotics)

Location: San Jose, CA; 5 days/week in-office collaboration required

Salary: $150,000–$300,000 annually

Company

hirify.global develops autonomous general-purpose humanoid robots for home and commercial applications.

What you will do

• Design and implement dual-tier state estimation algorithms in modern C++ for low-latency teleoperation and high-accuracy offline dataset generation.
• Develop subject calibration workflows for body segment dimensions, joint offsets, and sensor-to-body extrinsics.
• Build sensor fusion architectures combining spatial transforms, visual-inertial data, and inertial signals for full-body kinematic pose estimation.
• Address spatiotemporal calibration, environmental interference, and kinematic constraints on human skeletal models.
• Extract information from compliant tactile sensors affected by deformation, stretching, and folding.
• Build diagnostic tools, validation pipelines, and error-analysis workflows while informing future hardware and sensing designs.

Requirements

• 4+ years of experience building multi-sensor fusion and state estimation solutions for dynamic hardware systems.
• Hands-on expertise with real-time filtering, including extended and error-state Kalman filters and sliding-window estimators.
• Experience with offline batch optimization tools such as factor graphs, GTSAM, Ceres, and nonlinear least squares.
• Strong knowledge of 3D spatial kinematics, Lie groups including SE(3) and SO(3), forward and inverse kinematics, and constrained optimization.
• Ability to write high-performance, modular C++ for embedded or edge platforms and Python for data analysis and visualization.

Nice to have

• Experience with low-latency streaming pipelines for teleoperation, haptics, or human-in-the-loop control systems.
• Background in human biomechanics, skeletal tracking, or body-mounted telemetry systems.
• Experience applying machine learning to motion priors, trajectory smoothing, or learned state estimation and calibration.

Culture & Benefits

• Full-time position with a stated annual base salary range of $150,000–$300,000.
• Total compensation may include additional components and benefits depending on the role.
• In-office collaboration is required five days per week.