Simulation Engineer - Manipulation

Join Humanoid, a company on a mission to build the world's most capable humanoid robots. As a Senior Simulation Engineer, you will design and implement simulation environments for dexterous manipulation tasks across various domains. You will analyze and address reward hacking, reduce the sim-to-real gap, and work with third-party vendors to procure high-quality 3D assets. You will also ensure correct physics setup, identify and reduce simulation bottlenecks, and improve our simulation-based evaluation and reinforcement learning infrastructure.

• Design and implement gym environments for manipulation tasks, defining appropriate observation spaces, action spaces, and reward functions.
• Analyze and address reward hacking, identifying cases where learned policies exploit reward misspecification and iterating on reward design.
• Analyze and reduce the sim-to-real gap by tuning physics parameters, improving asset fidelity, and validating simulation behavior against real-world data.