Here at Humanoid, we believe in a future where robots amplify human potential. That’s why we’ve set out on a mission to build the world’s most capable, commercially-scalable, and safe humanoid robots. We’re bringing that mission to life with HMND‑01 - our rapidly developed humanoid platform being deployed in real industrial environments - and we’re growing the team to take it even further.
About The Role
We design robots in simulation before building them in hardware.
As a Robotics Simulation & RL Engineer, you will help design and validate future generations of our robotic platforms - including bipedal and wheeled systems - using physics simulation and reinforcement learning.
You will develop tools to determine whether a robot design can perform real-world tasks before committing to hardware. Your work will directly inform robot architecture, actuator selection, sensor placement, and control strategies.
A key responsibility of this role is owning and validating the canonical robot models (URDF and simulation assets) used across simulation and control stacks.
What You’ll Do
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Design and evaluate new robot platforms using physics simulation
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Analyze robot capabilities including workspace, manipulability, dynamic balance, and torque limits
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Use reinforcement learning to stress-test robot designs and explore capability limits
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Own and maintain URDF models of current and future robot platforms
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Maintain the CAD → URDF → simulation pipeline
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Develop tools and benchmarks to evaluate locomotion, manipulation, and platform robustness
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Provide quantitative feedback to hardware teams on actuator sizing, joint placement, mass distribution, and sensor layout
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Collaborate with mechanical, control, and perception teams to guide platform design decisions
What We're Looking For
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M.Sc. or Ph.D. in Robotics, Mechanical Engineering, Control, or a related field
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Strong foundation in robot kinematics and dynamics
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Experience with robot simulation environments (MuJoCo, Isaac Sim, Gazebo, or similar)
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Experience with reinforcement learning in robotics or physics-based simulation
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Experience working with URDF or similar robot description formats
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Strong programming skills in Python and/or C++
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Experience training RL locomotion or manipulation policies
Nice to have:
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Experience with legged, humanoid, or wheeled robots;
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Experience with whole-body control or torque-controlled robots;
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Experience with simulation-driven hardware design;
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Experience building large-scale RL training pipelines.
What We Offer
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Comprehensive health coverage for US‑based employees, including fully paid medical, dental, and vision insurance, with virtual care and employee assistance resources.
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Meaningful time off to rest and recharge: 23 days of PTO (accrued), separate sick leave, and paid company holidays.
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401(k) retirement plan with a 4% employer match.
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Equity included–we believe builders should share in what they build.
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Free daily catered lunch, snacks, and drinks in‑office.
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Collaboration with top‑tier engineers, researchers, and product experts in AI and robotics.
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Freedom to influence the product and own key initiatives.
For this role in Massachusetts, the target base salary range is $200K–$300K USD per year; your placement in that range depends on how your experience maps to our internal leveling.
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