About the company
Humanoid is building the world's most capable, commercially-scalable, and safe humanoid robots. HMND-01 Alpha is running in real industrial pilots.
Responsibilities
- Design and implement gym environments for manipulation tasks spanning industrial, service, and home settings, defining observation spaces, action spaces, and reward functions
- Analyze and address reward hacking
- Analyze and reduce the sim-to-real gap by tuning physics parameters, improving asset fidelity, and validating simulation behavior against real-world data
- Work with third-party vendors to procure, validate, and integrate high-quality 3D assets
- Ensure correct physics setup — contact dynamics, friction, mass properties, joint limits
- Identify and reduce simulation bottlenecks to maximize training throughput
- Improve simulation-based evaluation and reinforcement learning infrastructure
Requirements
- 3+ years building simulation environments or game-engine-based interactive systems
- Deep hands-on experience with at least one physics simulator (Isaac Sim/IsaacLab, MuJoCo, PyBullet, Drake) or equivalent game engine experience (Unreal, Unity)
- Strong practical experience running large-scale parallel simulation on GPU clusters
- Strong Python
- Familiarity with modern software engineering practices
- Clear documentation and communication of trade-offs
Nice to have
- Robotics or manipulation-specific experience (grasping, contact-rich tasks, deformable objects)
- Experience designing reward functions and training RL policies in simulated environments
- Experience with NVIDIA Isaac Sim & IsaacLab specifically
- Experience with domain randomization, system identification, or other sim-to-real transfer techniques
- Publications at top-tier robotics or RL conferences
- Familiarity with robocasa, robosuite or similar frameworks
Conditions
- Competitive equity: stock options
- 30+ paid days off, including 23 days of annual leave, all UK bank holidays, and additional company closure days
- Private healthcare, including virtual and in-person care
- Pension scheme with 8% total contribution
- Free daily breakfast, catered lunch, and snacks in-office