Reinforcement Learning Engineer, Locomotion, Optimus

Tesla is building robust embodied intelligence through humanoid robots. You will work on cutting-edge policy learning algorithms that allow the robot to walk, dance, balance, and recover from disturbances in real-world settings. Most importantly, the motion policies that you deploy will be repeatedly shipped and utilized by thousands of humanoid robots in real-world applications.

Responsibilities

• Develop end-to-end reinforcement-learning policies for whole-body movements

• Design observations, actions, and rewards based on first principles and deep physics understanding

• Develop techniques to improve sim2real transfer, including classical modeling techniques

• Evaluate policies both in simulation and on hardware

• Ship production-quality policies to a fleet of bots

Requirements

• Experience writing production-quality python (including numpy and pytorch)

• Solid understanding of robotics fundamentals, including geometry, linear algebra, kinematics, dynamics, probability, and statistics

• Familiarity with Machine learning and Reinforcement Learning fundamentals OR strong background in optimization-based planning and control

• Experience working with robotic systems, ideally on legged robotic systems with high degrees of freedom

• Experience with sim2real techniques OR deep understanding of physics fundamentals

• Experience implementing control strategies including impedance control, adaptive control, force control, MPC on hardware 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

$140,000 - $420,000/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.