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About the Role

We're hiring a State Estimation & Perception Engineer in our Autonomy Software team. In this role, you'll own and develop the perception and state estimation for our package pickup and delivery system. You'll influence system design decisions, including sensor selection, sensing architecture, and observability analysis, at the earliest stage when choices still matter.

Responsibilities

Own tuning and implementation of the state estimation stack on the drone (PX4 EKF modifications, fault tolerance, multi-sensor fusion with VIO and laser odometry)
Own state estimation and perception of the delivery mechanism, including dynamics modeling, observation model design, and sensor selection
Work closely with controls and planning to close the loop on automated pickup and delivery
Work closely with the hardware team to define sensing principles and sensor placement
Design and execute flight test campaigns to validate estimator performance
Identify and resolve failure modes in estimation (degenerate geometries, sensor dropout, initialization)

Requirements

Deep experience with state estimation and filtering (EKF, UKF, MSCKF, particle filters)
Experience with optimization-based methods (factor graphs, GTSAM, Ceres, SymForce)
Experience with visual-inertial odometry (VIO) and/or laser odometry (LIO)
Proficient in modern computer vision (feature extraction, tracking, depth estimation)
Strong C++ and/or Rust skills, with Python for prototyping and analysis
Experience deploying estimation on real hardware with real sensor noise
Ability to derive an EKF from scratch, including process model, measurement model, observability analysis, and consistency checks
Deep linear algebra knowledge (matrix decompositions, sparsity exploitation, numerical conditioning)
Experience closing a perception-to-control loop on real hardware under degraded conditions
Comfortable operating at the intersection of theory and embedded reality
Driven by a passion for delivering outstanding customer experiences
Proactive approach to development, often crafting new tools
Experience with PX4 / ArduPilot EKF internals
Experience with multi-body state estimation (tethered or suspended payloads)
Familiarity with SLAM in GPS-denied environments
Publications or open-source contributions in state estimation or VIO
Experience debugging estimator failures in the field, not just in simulation

Skills

State Estimation
Perception
EKF
UKF
MSCKF
Particle Filters
Optimization-based methods
Factor Graphs
GTSAM
Ceres
SymForce
Visual-Inertial Odometry (VIO)
Laser Odometry (LIO)
Computer Vision
Feature Extraction
Tracking
Depth Estimation
C++
Rust
Python
Linear Algebra
PX4
ArduPilot
SLAM

Location

United States
Illinois
Colorado

Work Type

Full-time

Experience Level

Deep experience with state estimation and filtering
Experience with optimization-based methods
Experience with visual-inertial odometry (VIO) and/or laser odometry (LIO)
Experience deploying estimation on real hardware
Experience closing a perception-to-control loop on real hardware
Experience debugging estimator failures in the field

Education Level

MS/PhD degree in CS, EE, ME, Robotics, or related technical field

Salary/Compensations

$198,600—$292,000 USD

Benefits

Opportunities for equity grants
401(k) plan with employer matching
16 weeks of paid parental leave
Wellness benefits
Commuter benefits match
Paid time off
Paid sick leave
Medical benefits
Dental benefits
Vision benefits
11 paid holidays
Disability insurance
Basic life insurance
Family-forming assistance
Mental health program
Flexible paid time off/vacation (for salaried roles)
80 hours of paid sick time per year (for salaried roles)

About the Company

DoorDash Labs is an independent team within DoorDash exploring robotics and automation to transform last mile logistics in the long term.
At DoorDash, our mission to empower local economies shapes how our team members move quickly, learn, and reiterate in order to make impactful decisions that display empathy for our range of users—from Dashers to merchant partners to consumers.
We are a technology and logistics company that started by enabling door-to-door delivery, and we are looking for team members who can help us go from a company that is known as the place you order food to a company that people turn to for any and all goods.
DoorDash is growing rapidly and changing constantly, which gives our team members the opportunity to share their unique perspectives, solve new challenges, and own their careers.
We're committed to supporting employees’ happiness, healthiness, and overall well-being by providing comprehensive benefits and perks including premium healthcare, wellness expense reimbursement, paid parental leave and more.

Equal Opportunity

We’re committed to growing and empowering a more inclusive community within our company, industry, and cities. That’s why we hire and cultivate diverse teams of people from all backgrounds, experiences, and perspectives. We believe that true innovation happens when everyone has room at the table and the tools, resources, and opportunity to excel.
Statement of Non-Discrimination: In keeping with our beliefs and goals, no employee or applicant will face discrimination or harassment based on: race, color, ancestry, national origin, religion, age, gender, marital/domestic partner status, sexual orientation, gender identity or expression, disability status, or veteran status.
Above and beyond discrimination and harassment based on “protected categories,” we also strive to prevent other subtler forms of inappropriate behavior (i.e., stereotyping) from ever gaining a foothold in our office.
Whether blatant or hidden, barriers to success have no place at DoorDash.
We value a diverse workforce – people who identify as women, non-binary or gender non-conforming, LGBTQIA+, American Indian or Native Alaskan, Black or African American, Hispanic or Latinx, Native Hawaiian or Other Pacific Islander, differently-abled, caretakers and parents, and veterans are strongly encouraged to apply.
Thank you to the Level Playing Field Institute for this statement of non-discrimination.
Pursuant to the San Francisco Fair Chance Ordinance, Los Angeles Fair Chance Initiative for Hiring Ordinance, and any other state or local hiring regulations, we will consider for employment any qualified applicant, including those with arrest and conviction records, in a manner consistent with the applicable regulation.
If you need any accommodations, please inform your recruiting contact upon initial connection.