UMA builds general-purpose humanoid robots. Founded in Paris in 2025 by alumni of Tesla Optimus, Google DeepMind, and LeRobot, we're building the humanoid and its control stack from the ground up.
We're hiring a robotics engineer to own the whole-body controller and state estimation on our humanoid.
Responsibilities
Design and tune the whole-body controller for locomotion and loco-manipulation
Build state estimation on the real robot: floating-base estimation, contact detection, sensor fusion
Formulate and solve real-time optimal control problems (QP inverse dynamics, MPC)
Characterize actuator behavior and design controllers within real hardware limits
Combine model-based control with learned policies at the model/learning seam
Requirements
Expertise in whole-body control on real hardware (QP inverse dynamics, MPC, task-space or hierarchical control)
Strong state estimation background (floating-base, contact detection, sensor fusion)
Proficiency in C++ and real-time systems (PREEMPT_RT, RTOS)
Rigid-body dynamics and numerical optimization (Pinocchio, Crocoddyl, or equivalent)
Experience bringing up a legged or humanoid robot
Bonus: fluency in MuJoCo or Isaac Sim, loco-manipulation and force/impedance control
UMA is an inclusive workplace that values exceptional builders over perfect pedigrees. Whatever your background, identity, or journey, if you don't meet every criterion but believe you can have an outsized impact here, we strongly encourage you to apply.
Skills Required
- Expertise in whole-body control on real hardware, including QP inverse dynamics, MPC, task-space control, or hierarchical control
- Strong background in state estimation, including floating-base estimation, contact detection, and sensor fusion
- Proficiency in C++ and real-time systems such as PREEMPT_RT or RTOS
- Knowledge of rigid-body dynamics and numerical optimization using Pinocchio, Crocoddyl, OCS2, TSID, or equivalent
- Experience bringing up a legged or humanoid robot
- Fluency in MuJoCo or Isaac
- Experience with loco-manipulation and contact-rich manipulation
- Experience with force or impedance control
- Experience combining model-based control with reinforcement learning policies
- Knowledge of safety standards for robots operating near people
What We Do
We build general-purpose mobile and humanoid robots capable of human-level dexterity and understanding of the physical world. It will enable people to focus on what truly matters in their lives. We are based in Paris, FR. Join us: https://app.dover.com/jobs/uma
