---
title: "State Estimation Engineer - Data Collection Systems"
company: "Figure"
company_url: "https://www.remjobs.works/companies/figure"
url: "https://www.remjobs.works/job/figure-state-estimation-engineer-data-collection-systems-73f4a979-1574-41e0-83f8-ac62469955ad"
apply_url: "https://job-boards.greenhouse.io/figureai/jobs/4706280006"
workplace: onsite
location: "San Jose, CA"
employment_type: unspecified
seniority: mid
role: software-engineering
region: united-states
skills: ["cpp", "python"]
date_posted: 2026-08-18T18:13:10.000Z
first_seen_by_remjobs: 2026-09-15T15:51:59.677Z
---

# State Estimation Engineer - Data Collection Systems

**Figure** · San Jose, CA

Apply: https://job-boards.greenhouse.io/figureai/jobs/4706280006

## About Figure

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## About the role

Figure is an AI Robotics company autonomous general-purpose humanoid robots. The goal of the company is to ship humanoid robots with human level intelligence. Its robots are engineered to perform a variety of tasks in the home and commercial markets. We are based in North San Jose, CA and require 5 days/week in-office collaboration. It’s time to build.

We are looking for a State Estimation Engineer to own the architecture, algorithm development, and calibration workflows for a next-generation data collection system. This system powers two core capabilities: low-latency real-time teleoperation of our humanoid robots and ultra-high-precision offline trajectory reconstruction for data collection and policy training. You will build and deploy dual-tier estimation pipelines and user-onboarding calibration routines that fuse heterogeneous sensor modalities to track full-body human kinematics and floating-base motion across dynamic tasks.

**Key Responsibilities:**

- Design and implement dual-tier state estimation algorithms in modern C++: low-latency, real-time filters for streaming teleoperation and batch optimization/smoothing routines for high-accuracy offline dataset generation.

- Own and develop subject-calibration procedures, designing rapid, intuitive routines to estimate individual body segment dimensions, joint offsets, and sensor-to-body extrinsics whenever a user equips the system.

- Develop robust sensor fusion architectures combining spatial transforms, visual-inertial data, and inertial signals into full-body kinematic pose estimates.

- Address spatiotemporal sensor calibration, dynamic environmental interference, and kinematic constraint enforcement on human skeletal models.

- Develop techniques to extract useful information from compliant tactile sensing in the presence of large sensor deformation, stretching or folding.

- Diagnose and understand limitations of existing hardware or designs and inform future design requirements.

- Evaluate novel sensing modalities to inform future hardware designs.

- Build diagnostic tooling, validation pipelines, and error analysis workflows to evaluate accuracy for both online and offline algorithms.

**Requirements:**

- 4+ years of experience building multi-sensor fusion and state estimation solutions for dynamic hardware systems.

- Hands-on expertise with both real-time filtering techniques ((E)KFs, sliding-window estimators) and offline batch optimization tools (Factor Graphs, GTSAM, Ceres, Non-Linear Least Squares).

- Proven capability to design fast, reliable calibration, zeroing, and alignment workflows for multi-sensor suites and kinematic models.

- Deep mathematical foundation in 3D spatial kinematics, Lie groups (SE(3), SO(3)), forward/inverse kinematics, and constrained optimization.

- Proven ability to write high-performance, modular C++ for embedded or edge computing platforms alongside Python for data analysis and visualization.

**Bonus Qualifications:**

- 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.

- Prior experience applying Machine Learning (ML) techniques to motion priors, trajectory smoothing, or learned state estimation/calibration.

The US base salary range for this full-time position is between $150,000 and $300,000 annually.

The pay offered for this position may vary based on several individual factors, including job-related knowledge, skills, and experience. The total compensation package may also include additional components/benefits depending on the specific role. This information will be shared if an employment offer is extended.

---

Source: Figure's own career page, read by RemJobs. Canonical HTML version: https://www.remjobs.works/job/figure-state-estimation-engineer-data-collection-systems-73f4a979-1574-41e0-83f8-ac62469955ad