Senior Staff Software Engineer, Motion Planning

Agility Robotics

Technical leader for motion planning on humanoid robots at Agility Robotics. Collaborating with teams to architect complex planning stacks for real-world deployment.

Posted 6/22/2026full-timeRemote • California, Oregon, Pennsylvania • 🇺🇸 United StatesSenior💰 $216,000 - $337,000 per yearWebsite

Tech Stack

Tools & technologies

C++Python

About the role

Key responsibilities & impact

Own and drive the technical roadmap for collision-free motion planning across whole-body motion, manipulation, grasping, and loco-manipulation
Design, implement, test, and deploy motion planning and trajectory optimization algorithms for humanoid robots
Architect motion planning systems for modularity, observability, and clean integration with perception, state estimation, and control
Develop algorithms robust to environmental uncertainty and imperfect state estimation
Lead cross-team architectural decisions and collaborate with autonomy, controls, and behaviors teams to solve complex system-level problems

Requirements

What you’ll need

Experience developing and deploying manipulation algorithms on high-DOF robots
Industry experience deploying mobile manipulation robots in real-world commercial applications
Proven expertise in sample-based motion planning, trajectory optimization, and model predictive control (MPC) with a track record of shipping these algorithms to production
Expertise developing planning and optimization algorithms subject to geometric and kinodynamic constraints, including contact, friction, and collision
Deep mathematical fundamentals in search and numerical optimization, including convex and non-convex problem formulation
Expertise in modern C++ (C++17/20) and Python for high-performance, multithreaded, real-time robotics applications
Track record architecting large-scale autonomy systems and defining clean interfaces across perception, estimation, planning, and control
Demonstrated technical leadership: setting direction for complex robotics systems, owning architecture, and mentoring senior engineers.

Benefits

Comp & perks

401(k) Plan: Includes a 6% company match.
Equity: Company stock options.
Insurance Coverage: 100% company-paid medical, dental, vision, and short/long-term disability insurance for employees.
Benefit Start Date: Eligible for benefits on your first day of employment.
Well-Being Support: Employee Assistance Program (EAP).
Time Off:
Exempt Employees: Flexible, unlimited PTO and 12 company holidays, including a winter shutdown.
Non-Exempt Employees: 10 vacation days, paid sick leave, and 12 company holidays, including a winter shutdown, annually.
On-Site Perks: Catered lunches four times a week and a variety of healthy snacks and refreshments at our Salem and Pittsburgh locations.
Parental Leave: Generous paid parental leave programs.
Work Environment: A culture that supports flexible work arrangements.
Growth Opportunities: Professional development and tuition reimbursement programs.
Relocation Assistance: Provided for eligible roles.
Annual Discretionary Bonus: Provided for eligible roles.

ATS Keywords

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Applicant Tracking System Keywords

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Hard Skills & Tools

motion planning algorithmstrajectory optimizationsample-based motion planningmodel predictive controlgeometric constraintskinodynamic constraintsC++Pythonmultithreaded programmingnumerical optimization

Soft Skills

technical leadershipcollaborationproblem-solvingmentoring