Senior Software Engineer, Navigation

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 Join the Autonomy team as a Senior Software Engineer focused on Navigation. You will be a core contributor, driving the design and deployment of real-time motion planning and navigation systems that empower our humanoid robots to operate robustly and autonomously in complex logistics and manufacturing environments. This is a high-impact role essential to scaling our commercial deployments, improving the efficiency of autonomous loco-manipulation behaviors, and achieving software readiness for the next generation robot platforms. About The Work • Design, implement, and deploy 3D motion planning algorithms for locomotion, with an emphasis on whole-body collision-aware motion execution in real-time. • Own the core components of our navigation stack, specifically the local planning maps, terrain models, and grid map representations used for path and motion planning with collision avoidance. • Advance our locomotion capabilities by developing and maintaining a 3D footstep path planner aiming to significantly reduce navigation cycle times. • Define and implement the necessary navigation features and route planning algorithms to enable coordinated movement and resource sharing within multi-agent robot fleets. • Drive the maturity of our release processes by designing, implementing, and maintaining robust regression testing pipelines for motion planning and navigation modules. • Collaborate with the AI and Controls teams to integrate locomotion behaviors with RL policies and support whole-body control. • Integrate and debug planning algorithms on real-world hardware, owning the transition from simulation environments (e.g., Gazebo, MuJoCo, Isaac Sim) to physical robots. About You • 5+ years of professional experience in robotics, specifically developing and deploying real-time navigation and motion planning systems for autonomous mobile platforms (humanoids, quadrupeds, autonomous vehicles). • Expertise in 3D/volumetric map representations (e.g., octomaps, voxel grids) for local path planning and collision avoidance. • Deep technical understanding of locomotion-specific path and motion planning algorithms, including sampling-based planners (RRT/PRM), optimization-based methods (MPC/LQR), and hybrid A*. • Expert proficiency in modern C++ (C++17/20), with a proven track record of writing high-performance, multithreaded code for robotics applications. • Experience with common robotics frameworks (e.g., ROS/ROS2, DDS) and hands-on experience with modern optimization libraries relevant to motion planning (e.g., Ceres, IPOPT, OSQP). • Proven ability to systematically test and debug systems on physical robots, and integrate perceived environment data (LiDAR, camera, depth sensing) into the planner. Bonus Qualifications • Experience training and deploying Reinforcement Learning (RL) agents for complex locomotion behaviors. • Hands-on experience implementing Model Predictive Control (MPC) or similar optimization-based control techniques for dynamic robot locomotion. • Familiarity with perception pipelines and the integration of perceived environment data into the planning stack. • Experience with GPU-accelerated spatial data structures (e.g., NVBlox, specialized CUDA implementations) for high-throughput, low-latency map updates and querying. • Strong foundational knowledge of robot kinematics, dynamics, controls, and state estimation (e.g., EKF, particle filters). • Experience with multi-robot coordination/route planning and abiding by boundary constraints in a workcell map. • Experience with multi-robot mapping and localization, including map persistence and sharing capabilities. • Publications in top-tier robotics conferences (ICRA, RSS, IROS, CoRL). This a hybrid position based out of one of our Salem, Pittsburgh, or Fremont 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 Salary Range $155,000 — $241,000 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:…