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

Design and evaluate new robot platforms using physics simulation

Analyze robot capabilities including workspace, manipulability, dynamic balance, and torque limits

Use reinforcement learning to stress-test robot designs and explore capability limits

Own and maintain URDF models of current and future robot platforms

Maintain the CAD → URDF → simulation pipeline

Develop tools and benchmarks to evaluate locomotion, manipulation, and platform robustness

Provide quantitative feedback to hardware teams on actuator sizing, joint placement, mass distribution, and sensor layout

Collaborate with mechanical, control, and perception teams to guide platform design decisions

What We're Looking For

M.Sc. or Ph.D. in Robotics, Mechanical Engineering, Control, or a related field

Strong foundation in robot kinematics and dynamics

Experience with robot simulation environments (MuJoCo, Isaac Sim, Gazebo, or similar)

Experience with reinforcement learning in robotics or physics-based simulation

Experience working with URDF or similar robot description formats

Strong programming skills in Python and/or C++

Experience training RL locomotion or manipulation policies

Nice to have:

Experience with legged, humanoid, or wheeled robots;

Experience with whole-body control or torque-controlled robots;

Experience with simulation-driven hardware design;

Experience building large-scale RL training pipelines.

What We Offer

Comprehensive health coverage for US‑based employees, including fully paid medical, dental, and vision insurance, with virtual care and employee assistance resources.

Meaningful time off to rest and recharge: 23 days of PTO (accrued), separate sick leave, and paid company holidays.

401(k) retirement plan with a 4% employer match.

Equity included–we believe builders should share in what they build.

Free daily catered lunch, snacks, and drinks in‑office.

Collaboration with top‑tier engineers, researchers, and product experts in AI and robotics.

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.