Locomotion Research Engineer

JOB DESCRIPTION

Design and train RL locomotion policies for bipedal walking, lateral movement, push recovery, and dynamic motion
Develop and maintain MuJoCo-based simulation environments with custom actuator models that faithfully reproduce hardware IO timing, CAN bus delays, and motor saturation characteristics
Own the domain randomization strategy: model the specific sources of sim-real mismatch and randomize what is genuinely uncertain, not everything
Run processor-in-the-loop validation, including real firmware against simulated robots over virtual CAN, before any policy touches hardware
Deploy and tune locomotion controllers on Asimov, iterating rapidly across sim and physical platforms
Work with Data Engine telemetry to refine domain randomization and close identified sim-real gaps
Collaborate with firmware, mechanical, and perception teams on cross-stack issues affecting locomotion performance
Contribute to open-source releases of locomotion models, training code, and simulation assets

JOB REQUIREMENT

5+ years of experience in locomotion, legged robotics, or related controls and learning fields
Proven track record deploying locomotion on physical humanoid or legged robots in a production or near-production setting -- you have shipped policies that run on real hardware, not just in simulation
Strong proficiency in Python and C++
Deep understanding of reinforcement learning and sim-to-real transfer for humanoid locomotion, including policy architecture choices and training dynamics that hold up on real hardware
Experience with trajectory optimization, MPC, or hybrid control approaches alongside learned policies
Deep understanding of rigid body dynamics, contact mechanics, and whole-body control
Hands-on experience debugging sim-to-real gaps on physical platforms -- you know what breaks and why
Familiarity with actuator behavior, motor dynamics, and low-level control integration at the hardware level
Familiarity with state estimation, sensor fusion, and motion capture for locomotion
Strong experimental intuition and ability to drive complex cross-functional work from research through deployment
Bonus points for:
Research background in legged robotics, RL for control, or related areas -- publications or preprints welcome
Contributions to open-source robotics or locomotion research
Experience with processor-in-the-loop or hardware-in-the-loop validation workflows

WHAT'S ON OFFER

Collaborate with a world-class research team on meaningful, high-impact projects
Own and shape the core training code infrastructure used daily by the team
Work on real models, real data, and real scale - not toy problems
Help bridge the gap between research velocity and engineering quality
Flexible work environment with a culture that values depth, clarity, and curiosity

CONTACT

PEGASI – IT Recruitment Consultancy | Email: recruit@pegasi.com.vn | Tel: +84 28 3622 8666
We are PEGASI – IT Recruitment Consultancy in Vietnam. If you are looking for new opportunity for your career path, kindly visit our website www.pegasi.com.vn for your reference. Thank you!

Job Summary

Company Type:

Product

Technical Skills:

Location:

Others - Singapore

Working Policy:

Onsite

Salary:

Negotiation

Job ID:

J02087

Status:

Active

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