Formic is looking for an Embodied AI / Simulation Engineer to develop learning-based manipulation systems for humanoid and mobile manipulation platforms. Your work will ensure these systems transfer reliably into the real world. You’ll build the simulation, data, and training infrastructure needed to develop robust visuomotor policies and deploy them onto physical robotic systems operating in production environments. This role sits at the intersection of simulation, machine learning, and robotics execution.

What You'll Do

Design and train learning-based manipulation systems for humanoid and mobile manipulation platforms
Develop and maintain high-fidelity digital twins using Isaac Sim, MuJoCo, or similar simulation tools
Implement and evaluate approaches including Action Chunking with Transformers (ACT), diffusion policies, behavior cloning, and Vision-Language-Action (VLA) models
Contribute to development of a Universal Manipulation Interface (UMI) abstraction layer
Build teleoperation-to-training data pipelines to enable scalable dataset generation
Design sim-to-real transfer strategies including domain randomization and system identification
Evaluate policy robustness, failure modes, and cross-task generalization
Partner with perception and controls teams to ensure stable closed-loop visuomotor policies
Deploy trained models onto real robotic systems and support on-hardware validation and debugging
Establish experimental rigor through structured evaluation, ablations, and performance tracking

What We're Looking For

Experience training embodied AI policies for real robotic systems
Strong understanding of sim-to-real challenges and real-world failure modes
Familiarity with transformer-based action models such as ACT
Experience with diffusion policies or other generative control approaches
Experience working with multi-modal inputs including vision, proprioception, and language
Proficiency in Python and deep learning frameworks such as PyTorch or JAX
Experience integrating learned policies with real-time control system
Strong experimental design, evaluation discipline, and attention to reproducibility
Ability to operate across research and deployment constraints without losing rigor

Technical Stack

Languages: Python
Frameworks: PyTorch, JAX
Tools: Isaac Sim, MuJoCo

Team & Environment

You will work closely with perception and controls teams.

Benefits & Compensation

Compensation range: $145,000 - $200,000 USD
Equity in Formic via stock option program
Competitive & Uncapped Commission Structure
Comprehensive Healthcare Coverage (Medical, dental, vision) with 99% of employee premiums covered
Additional Insurance Benefits (FSA, DCFSA, life, short-term disability, long-term disability) 100% employer-paid
Employee Assistance Program (EAP)
Paid Parental Leave Program (up to 12 weeks)
Company-sponsored 401(k)
Home Office Stipend
Monthly Cell Phone Reimbursement
Flexible Time Off

Company Culture

Fearless Optimism: Make bold bets and default optimistic. See ambiguity as opportunity.
Create the Magic: Absorb complexity so customers don’t have to. Don't say 'not my job.'
Today, Not Tomorrow: Have a bias to action. Take extreme ownership.
Seek Truth: Think from first principles. Value data over ego.
Made of Rubber: Be resolute and adaptable. Treat setbacks as learning moments.
One Formic: Operate without silos. Practice radical helpfulness.

Formic is an equal opportunity employer. They do not discriminate on the basis of race, color, religion or religious creed, sexual orientation, gender, gender identity, marital status, family or parental status, disability, military or veteran status, or any other basis protected by law.