Staff Software Engineer - Robotic Simulation

Apptronik
US - Texas - Austin
January 13, 2025

Apptronik is building robots for the real world to improve human quality of life and to help solve the ever-increasing labor shortage problem. Our team has been building some of the most advanced robots on the planet for years, dating back to the DARPA Robotics Challenge. We apply our expertise across the full robotics stack to some of the most important and impactful problems our society faces, and expect our products and technology to change the world for the better. We value passion, creativity, and collaboration to help us overcome existing technological barriers in the industry to create truly innovative products.

You will join a team developing state-of-the-art general-purpose robots designed to operate in human spaces and with human tools. It is designed to work alongside humans, mobilize to human spaces, and manipulate the world around it.

In this role, you will develop high-fidelity simulation platforms essential for Apptronik's general-purpose robots, with the primary objective of enabling seamless transition of control algorithms and autonomous behaviors from simulation to the real world. You'll ensure seamless integration of simulation with control systems, aligning data flows between virtual and real hardware for accurate system identification, contact modeling, and reinforcement learning. By bridging the sim-to-real gap-through parameter transfer, realistic contact dynamics, and efficient parallelization for reinforcement learning-you will help enhance robotic performance and adaptability.

ESSENTIAL DUTIES AND RESPONSIBILITIES or KEY ACCOUNTABILITIES:

Full Ownership of Simulation Infrastructure:
Develop and maintain simulation infrastructure integrated with robot control systems, ensuring that data flows accurately reflect both simulated and real-world operations.
System Identification and Sim-to-Real Transfer:
Take responsibility for transferring identified robot and actuator parameters into simulation models, ensuring high-fidelity sim-to-real alignment for various robotic systems.
Realistic Contact Modeling:
Design and implement accurate contact models, enabling simulations that match real-world physics and interaction dynamics.
Scalable Reinforcement Learning Support:
Spearhead the development of a simulation platform for reinforcement learning, enabling robust, parallelized training environments across multiple simulations (e.g., Isaac Gym, MuJoCo MJX).
Photo-realistic Simulation for Perception:
Develop visually accurate simulation environments to support perception-related tasks, including photorealism for improved visual model training.
Experimental Design and Validation:
Design and execute experimental procedures to characterize kinematics, dynamics, and controls, ensuring that system identification matches hardware requirements.
Deliver reliable software through code reviews, continuous integration, and automated testing
Represent and lead with Apptronik's core values:
CHIPC - Curiosity, Humility, Integrity, Passion, Creativity
SKILLS AND REQUIREMENTS:
Technical Skills:
Strong command of modern C++ and object-oriented programming, including expertise with templates, inheritance, and design patterns for robust software design.
Thorough knowledge of kinematics, dynamics, controls, estimation, and familiarity with standard equipment (e.g., motion capture, force plates, dynamometers).
Nice to have:
Skilled in ROS, URDF, MuJoCo, Isaac Gym, and Eigen, with experience tuning simulations for accuracy and fidelity.
Experience with designing and optimizing parallelized simulation environments for reinforcement learning applications.
Strong experience with Linux application development, software testing (unit & integration), and version control (e.g., Git).
Proven ability to communicate technical information clearly and work within Agile development processes (sprint planning, design/code reviews).
EDUCATION and/or EXPERIENCE:
Education:
BS, MS, or PhD in relevant fields (Computer Science, Robotics, Electrical Engineering, etc.)
Experience:
Significant experience (8+ years or 5+ with a graduate degree) in developing robotic simulations and conducting system identification, particularly in high-performance, dynamic robots.
PHYSICAL REQUIREMENTS:
Prolonged periods of sitting at a desk and working on a computer
Must be able to lift 15 pounds at times
Vision to read printed materials and a computer screen
Hearing and speech to communicate
Perks:
Competitive salary w/ benefits
Highly motivating equity incentive package
Flexible work hours policy
Professional development opportunities
Generous Paid Time Off (PTO)
401k plan
• This is a direct hire. Please, no outside Agency solicitations.

Apptronik provides equal employment opportunities to all employees and applicants for employment and prohibits discrimination and harassment of any type without regard to race, color, religion, age, sex, national origin, disability status, genetics, protected veteran status, sexual orientation, gender identity or expression, or any other characteristic protected by federal, state or local laws.

Read the full job description and apply online on the recuiter's web-site

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