Embodied AI​/Simulation Engineer

In this role you will:

• Design and train learning-based manipulation systems for humanoid and mobile manipulation platforms
• Develop and maintain high-fidelity digital twins using Isaac Sim, Mu Jo Co , or similar tools
• Implement and evaluate approaches such as:
  • Action Chunking with Transformers (ACT)
  • Diffusion Policies
  • Behavior Cloning at Scale
  • Vision-Language-Action (VLA) models
  • Latent action or hierarchical skill models
• Work with modern foundation models for robotics (e.g., Pi0, Gemini ER 1.6 or similar), including adapting, fine-tuning, and deploying them for real-world tasks
• Contribute to development of a Universal Manipulation Interface (UMI) abstraction layer
• Build teleoperation-to-training data pipelines
• Design sim-to-real transfer strategies including domain randomization and system identification
• Evaluate policy robustness, generalization, and real-world performance
• Work closely with perception and controls teams to ensure stable closed-loop visuomotor policies
• Deploy, tune, and iterate on models running on real robotic systems in production environments

• Experience training embodied AI policies for real robots
• Familiarity with transformer-based action models (e.g., ACT)
• Experience with diffusion policies or other generative control methods
• Experience working with or adapting large-scale models (e.g., Pi0, Gemini ER 1.6, or similar VLA / multimodal models)
• Ability to deploy, fine-tune, and optimize models for real-world robotic systems (latency, robustness, reliability)
• Strong understanding of sim-to-real challenges
• Experience working with multi-modal inputs (vision, proprioception, language)
• Proficiency in Python and deep learning frameworks (PyTorch, JAX, etc.)
• Experience integrating learned policies with real-time control systems
• Strong experimental design, evaluation, and debugging skills

• Equity in Formic:
  Participate in our stock option program and share in the success of a fast-growing start-up backed by leading global investors
• Competitive & Uncapped Commission Structure:
  Designed to reward performance and impact in commission-eligible roles
• Comprehensive Healthcare Coverage:
  Medical, dental, and vision insurance through Blue Cross Blue Shield and Unum, with 99% of employee premiums covered and 75% coverage for dependents, with optional buy-up plans available
• Additional Insurance Benefits: FSA and DCFSA, life insurance, short-term disability, and long-term disability through Unum, all 100% employer-paid
• Employee Assistance Program (EAP):
  Fully funded by Formic, offering support when you need it most
• Paid Parental Leave Program:
  Up to 12 weeks of paid parental leave
• Company-sponsored 401(k):
  Invest in your future with our company-facilitated retirement savings plan
• Home Office Stipend: A one-time allowance for fully remote and hybrid employees to support an at-home or on-the-road work setup
• Monthly Cell Phone Reimbursement:
  Monthly stipend toward personal phone and internet expenses
• Flexible Time Off:
  Take the time you need, when you need it, supported by our flexible PTO policy

Formic’s pay and equity packages are thoughtfully benchmarked against peer companies at a similar growth stage. Equity represents a meaningful part of our mutual investment: when Formic succeeds, so do you.

Final offers are customized based on experience, geographic location, market considerations, and a candidate’s preferred balance of cash and equity. Our goal is to attract and reward top talent who will have significant impact, and we are open to thoughtful discussions to align on the right structure.

Compensation Range: $145,000 — $200,000 USD

• Fearless Optimism: You make bold bets and default optimistic. You believe in the mission, aren’t paralyzed by risk, and fear inaction more than failure. You see ambiguity as opportunity and bring energy to building what doesn’t yet exist.
• Create the Magic: You absorb complexity so customers don’t have to. Whether your customer is external or internal, you focus on delivering experiences that are clear, fast, value-added, and outcome-driven. You don’t say “not my job.” You make things work.
• Today, Not Tomorrow: You…