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Presales Solution Engineer - Edge AI
HP
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Identify opportunities where AI inference, computer vision, intelligent edge workloads, advanced compute, and related technologies can improve customer operations or create new business…
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Software Engineer, Imaging
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…Anduril is committed to bringing cutting-edge autonomy, AI, computer vision, sensor fusion, and networking technology to the military in months, not…
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Senior Full-Stack Software Engineer (Arsenal 2)
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Software Development Engineer, AI Foundations, Amazon Leo Networking Software
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Senior System Engineer
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- $110,000 to $150,000 USD / year
Kforce has a client that is seeking a Senior Systems Engineer in Draper, UT.
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Automation & Integration Engineer
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AI/ML engineer II
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…the engineers who run our systems. We're looking for an AI/ML Engineer to design, build, and operate agentic workflows that detect incidents, investigate root causes, and guide engineers to…
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Launch and Test Engineer III (Avionics)
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Test Engineer II | Launch Ops (Mechanical/Fluids)
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We are seeking a hands-on, detail-oriented Test and Launch Engineer to join our Launch Operations team at Blue Origin. As a part of a small, passionate, and accomplished team of experts,…
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SDE III for Manufacturing Systems
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We are a team of doers and problem-solvers. Join us in lowering the cost of access to space and enabling Blue Origin's vision of millions of people living and working in space to benefit…
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Application Engineer
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Hiring for an Application Engineer in Seymour!
Added 18 mins ago
Senior Fullstack Engineer (Matchmaking)
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Staff Software Engineer, Pentest Experience
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Apptronik

Software Engineer - Humanoid Sim-to-Real

Austin, TX, United States

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Job details

Posting language: English
Posted: Nov 3, 2026

Original job description

Apptronik is a human-centered robotics company developing AI-powered robots to support humanity in every facet of life. Our flagship humanoid robot, Apollo, is built to collaborate thoughtfully with people, starting with critical industries such as manufacturing and logistics, with future applications in healthcare, the home, and beyond.

We operate at the cutting edge of Applied AI, applying our expertise across the full robotics stack to solve some of society's most important problems. You will join a team dedicated to bringing Apollo to market at scale, tackling the complex challenges like safety, commercialization, and mass production to change the world for the better.

JOB SUMMARY

Apptronik is building robots for the real world - to improve human quality of life and help solve the ever-increasing labor shortage. As a Controls Engineer – Actuation on our Controls team, you will own both the actuator models that make our simulation trustworthy and the actuator-level control that runs on real hardware - closing the loop from bench characterization and system identification, through simulator integration, to controller design, tuning, and deployment. You will pair deep motor electromechanics and system-identification skill with strong C++/Python engineering, working hand in hand with our Controls, Firmware, and Simulation teams so that both model fidelity and control performance are driven by how they are actually used on the robot.

ESSENTIAL DUTIES AND RESPONSIBILITIES or KEY ACCOUNTABILITIES

Develop and maintain high-fidelity actuator models in simulation, capturing the physical behaviors (friction, compliance, thermal, torque and current limits) that meaningfully affect real-world performance.
Design, tune, and deploy actuator-level control - closed-loop torque and current control and the low-level control that turns commands into reliable joint behavior on hardware.
Design and run hardware test campaigns to characterize actuator behavior and extract the parameters that keep both the models and the controllers accurate.
Apply system identification to extract trustworthy physical models from experimental data, and use those models to inform controller design and gain selection.
Quantitatively validate sim-to-real fidelity - for both the models and the controllers - using appropriate comparison metrics, and understand the limitations of each.
Build and maintain robust Python/C++ tooling for experiment automation, model extraction, controller tuning, and simulator integration.
Partner with the Controls team throughout - aligning on the fidelity and control performance actually needed, how model and controller choices ripple into training and policy performance, and where the actuator layer is the root cause of a sim-to-real gap.
Support hardware bring-up and deployment, translating validated models and controllers into real robot configuration.

SKILLS AND REQUIREMENTS

Strong C++, including comfort extending a simulator or physics-engine codebase - not just consuming one through a Python interface.
Deep grounding in motor electromechanics and classical control - closed-loop torque/current control, controller design and tuning, and frequency-domain analysis (e.g. Bode plots, stability margins).
Hands-on actuator or servo control on real hardware: designing, tuning, and validating low-level controllers, informed by system identification.
Hands-on system identification and modeling: structured experiment design and model fitting from real data that feeds both simulation and control.
Proficiency in Python (test automation, data analysis, tooling) and a track record shipping maintainable code under Git in a fast-moving R&D environment.
Comfortable working cross-functionally with controls engineers - focused on how your models and controllers get used, not just whether they fit the data.
Preferred: experience with dynamometers, motor test stands, and lab instrumentation; motor thermal modeling and gearbox efficiency / backlash characterization; real-time actuator communication protocols and embedded / firmware control; a modern robotics simulator (MuJoCo, Isaac Sim/Lab, Brax) and sim-to-real validation workflows; and Docker with GPU/cloud experiment infrastructure.

EDUCATION and/or EXPERIENCE

BS in Robotics, ME, EE, CS, or a related field + 4 years of relevant experience; MS in a related field + 2 years of relevant experience; or a PhD in a related field.
Prior humanoid or legged-robot experience is strongly preferred.

PHYSICAL REQUIREMENTS:

Prolonged periods of sitting at a desk and working on a computer
Must be able to lift 15 pounds at times
Vision to read printed materials and a computer screen
Hearing and speech to communicate

*This is a direct hire. Please, no outside Agency solicitations.

Apptronik provides equal employment opportunities to all employees and applicants for employment and prohibits discrimination and harassment of any type without regard to race, color, religion, age, sex, national origin, disability status, genetics, protected veteran status, sexual orientation, gender identity or expression, or any other characteristic protected by federal, state or local laws.

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