Senior Staff Software Engineer, Motion Planning

Agility’s commercially deployed humanoids operate alongside teams in warehouses, manufacturing facilities, and distribution centers—tackling physically demanding and repetitive tasks while enabling workers to focus on higher-value work. With industry-leading safety standards and years of proven deployment data, we're pioneering a new era of automation that enhances human potential. About The Role Our autonomy team is growing, and we are looking for an experienced technical leader to set the direction for motion planning on our humanoid robots. In this role you will own the technical roadmap for collision-free motion planning across whole-body motion, manipulation, grasping, and loco-manipulation. You will partner closely with our state estimation, navigation, controls, and behaviors teams to architect a planning stack that solves the hardest problems in real-world deployment: high degrees of freedom, dynamic constraints, environmental uncertainty, and reliability at scale. About The Work 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 About You 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 Bonus Qualifications Experience working with humanoid (or similar) robots Experience with loco-manipulation: combined planning of locomotion and manipulation Experience with whole-body model predictive control or whole-body trajectory optimization Experience with task and motion planning (TAMP) under uncertainty Experience leveraging machine learning or offline trajectory optimization to accelerate online planning Experience with perception and scene understanding as it pertains to motion planning Publications in top robotics venues (RSS, ICRA, IROS, etc. )   This is a fully remote role with the option to work hybrid if a commutable distance from our Salem, OR, Pittsburgh, PA, or Fremont, CA offices. The final salary offered to a successful candidate will be dependent on several factors that may include but are not limited to: market location, job-related knowledge, skills, and experience. This range may change based on geographical location and may be modified in the future. Anticipated Base Salary Range $216,000 — $337,000 USD In addition to base pay, our competitive total rewards package consists of the following for full-time employees: 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. All of our roles are U.S.-based. Applicants must have current authorization to work in