1 day ago
Base Salary
$199k - $292k/yr
Responsibilities
- Own tuning and implementation of the drone state-estimation stack, including PX4 EKF modifications, fault tolerance, and multi-sensor fusion with VIO and laser odometry.
- Own perception and state estimation for the delivery mechanism, including dynamics modeling, observation-model design, and sensor selection.
- Collaborate with controls, planning, and hardware teams to close the automated pickup and delivery loop and define sensing principles and sensor placement.
- Design and execute flight-test campaigns to validate estimator performance.
- Identify and resolve estimation failure modes, including degenerate geometries, sensor dropout, and initialization problems.
- Develop tools and deploy estimation systems on real hardware under degraded and noisy sensing conditions.
Requirements
- Deep experience with state estimation and filtering methods including EKF, UKF, MSCKF, and particle filters.
- Experience with optimization-based methods including factor graphs, GTSAM, Ceres, and SymForce.
- Experience with visual-inertial odometry and/or laser odometry.
- Proficiency in modern computer vision, including feature extraction, tracking, and depth estimation.
- Strong C++ and/or Rust skills, with Python experience for prototyping and analysis.
- Ability to derive EKFs from scratch, including process and measurement models, observability analysis, and consistency checks.
- Deep linear algebra knowledge, including matrix decompositions, sparsity exploitation, and numerical conditioning.
- Experience closing a perception-to-control loop on real hardware under degraded conditions.
- Master’s or PhD degree in computer science, electrical engineering, mechanical engineering, robotics, or a related technical field.
- Experience with PX4 or ArduPilot EKF internals, multi-body state estimation, SLAM in GPS-denied environments, or field debugging of estimator failures is preferred.
- Publications or open-source contributions in state estimation or VIO are preferred.
Benefits
- Comprehensive benefits for regular employees, including 401(k) matching, medical, dental, vision, disability, and basic life insurance.
- 16 weeks of paid parental leave, family-forming assistance, wellness benefits, commuter benefits match, paid time off, paid sick leave, and 11 paid holidays.
- Mental health benefits and other well-being programs.
- Salaried roles receive flexible paid time off and 80 hours of paid sick time per year.
- The position is based in the United States, with localized base salary determined by work location; applications are accepted on an ongoing basis.
About DoorDash
DoorDash builds a marketplace and logistics platform that connects consumers with local restaurants and retailers for on-demand delivery and pickup, powered by a network of independent Dashers. It earns through delivery fees, merchant commissions, advertising, DashPass subscriptions, and white-label fulfillment via DoorDash Drive. Founded in 2013 and headquartered in San Francisco, the public company operates across the U.S. and selected international markets, and also researches automation through DoorDash Labs.