Robotics Engineer, State Estimation, Optimus

Tesla is building robust embodied intelligence through humanoid robots. Core to reaching this goal are real-time algorithms that enable operation of our humanoid robot in dynamic, unstructured environments. You will design and implement estimation pipelines that fuse sensor data to provide accurate state feedback for locomotion, manipulation, and high-level autonomy. Most importantly, you will see your work repeatedly shipped to and utilized by thousands of Humanoid Robots in real world applications.

Responsibilities

• Design, implement, and optimize state estimation algorithms (e.g., EKF, UKF, particle filters) for humanoid robots

• Fuse data from multiple sensors (IMU, joint encoders, cameras, force/torque sensors) for accurate pose and velocity estimation

• Collaborate with sensor teams to drive hardware design decisions and support calibration processes

• Analyze and improve estimation robustness in the presence of sensor noise, latency, and failures

• Develop simulation and real-world experiments to validate estimation performance.

• Contribute to software architecture design, including interfaces between subsystems.

• Ship production-quality, safety-critical software

Requirements

• Experience writing production-quality, modern C++

• Strong background in state estimation, sensor fusion, and modeling

• Solid understanding of robotics fundamentals, including geometry, linear algebra, kinematics, dynamics, mechanics, and real-time systems

• Experience with humanoids or legged robots preferred

Compensation and Benefits
Benefits

Along with competitive pay, as a full-time Tesla employee, you are eligible for the following benefits at day 1 of hire:

• Aetna PPO and HSA plans > 2 medical plan options with $0 payroll deduction
• Family-building, fertility, adoption and surrogacy benefits
• Dental (including orthodontic coverage) and vision plans, both have options with a $0 paycheck contribution
• Company Paid (Health Savings Account) HSA Contribution when enrolled in the High Deductible Aetna medical plan with HSA
• Healthcare and Dependent Care Flexible Spending Accounts (FSA)
• 401(k) with employer match, Employee Stock Purchase Plans, and other financial benefits
• Company paid Basic Life, AD&D, short-term and long-term disability insurance
• Employee Assistance Program
• Sick and Vacation time (Flex time for salary positions), and Paid Holidays
• Back-up childcare and parenting support resources
• Voluntary benefits to include: critical illness, hospital indemnity, accident insurance, theft & legal services, and pet insurance
• Weight Loss and Tobacco Cessation Programs
• Tesla Babies program
• Commuter benefits
• Employee discounts and perks program
Expected Compensation

$132,000 - $390,000/annual salary + cash and stock awards + benefits
Pay offered may vary depending on multiple individualized factors, including market location, job-related knowledge, skills, and experience. The total compensation package for this position may also include other elements dependent on the position offered. Details of participation in these benefit plans will be provided if an employee receives an offer of employment.