{"id":1643832,"url":"https://alion.io/job/ghost-robotics-robotic-software-engineer-senior-staff-lead-manipulation","title":"Robotic Software Engineer - (Senior, Staff, Lead) Manipulation","company":{"id":48068,"name":"Ghost Robotics","domain":"ghostrobotics.io","url":"https://alion.io/company/ghost-robotics","size_band":null,"is_staffing_agency":false,"employer_type":"direct","is_intermediary":false,"listed_via":null,"ats_vendor":"Paylocity","truth_index":null},"role":"Robotics","role_family":"Robotics","seniority":"lead","employment_type":null,"work_mode":"on_site","remote_scope":null,"remote_scope_basis":null,"remote_working_hours":null,"hiring_geo_confidence":"structured","locations":["Philadelphia, United States"],"countries":["US"],"hiring_countries":[],"hiring_countries_total":0,"salary":{"min":140000,"max":185000,"currency":"USD","period":"year","gross":null,"usd_annual":185000},"salary_estimate":null,"experience_years_min":10,"visa_sponsorship":false,"relocation_package":false,"has_equity":true,"technologies":[{"name":"C++","optional":false},{"name":"CI/CD","optional":false},{"name":"Gazebo","optional":false},{"name":"Inverse Kinematics","optional":false},{"name":"Linux","optional":false},{"name":"Motion Planning","optional":false},{"name":"MoveIt","optional":false},{"name":"MuJoCo","optional":false},{"name":"Obstacle Avoidance","optional":false},{"name":"OMPL","optional":false},{"name":"PyBullet","optional":false},{"name":"Python","optional":false},{"name":"ROS","optional":false},{"name":"Unix","optional":false},{"name":"Machine Learning","optional":true},{"name":"Model Predictive Control","optional":true},{"name":"Reinforcement Learning","optional":true},{"name":"Reinforcement Learning","optional":true},{"name":"Vision-Language-Action","optional":true}],"status":"live","first_seen_at":"2026-09-11T12:19:17Z","employer_posted_date":"2026-10-01","last_verified_at":"2026-10-26T06:20:14Z","board_verified":true,"closed_at":null,"days_open":44,"trust":{"level":"ok","repost_count":null,"flags":[],"days_open":44},"description":"Description\nWe're a robotics company building autonomous systems that operate in complex, dynamic environments. We're hiring a Manipulation Engineer to design, implement, and deploy manipulation algorithms for arms mounted on dynamic legged robots operating in the real world. You'll build task and motion planning, grasping, and control pipelines in real-time software, and own their performance all the way down to hardware. This role suits engineers who thrive on high-velocity problem solving, deep technical ownership, and hands-on testing and validation.\nHow leveling works This is one role, open at the Senior, Staff, or Lead level. The responsibilities below reflect the core of the role at every level. You don't need to decide which level fits you before applying. The selected candidate will be placed at the level commensurate with the skills, scope, and experience they demonstrate through the interview process, and the offer will align with that level. Senior and Staff are individual-contributor positions. Lead carries the same technical scope plus people-leadership responsibilities, for candidates who want them.\nWhat you'll do (all levels)\nArchitect end-to-end manipulation frameworks, from high-level task planning down to perception and low-level joint control\nDevelop trajectory planning, obstacle avoidance, and real-time motion generation\nImplement grasping strategies using proprioception and vision, for rigid and deformable objects\nUse physics-based simulators to develop and validate manipulation policies with high-fidelity transfer to hardware\nWrite clean, maintainable C++ and Python, and debug system performance across simulation, hardware experiments, and fleet data\nCollaborate with mechanical, perception, embedded, and systems teams to ensure end-to-end performance and robustness\nContribute to long-term architectural decisions \nSenior Manipulation Engineer\nTypically reached with 5+ years of relevant experience, or 3+ years following a PhD\nOwns a defined technical area of the manipulation stack and delivers independently end to end\nMentors less-experienced engineers\nTrack record of shipping manipulation software to real hardware\nStaff Manipulation Engineer\nTypically reached with 8+ years of relevant experience\nDrives technical direction and architecture across the team's area\nSets engineering standards and multiplies the output of others\nDemonstrated influence beyond their own deliverables, across teams or an entire manipulation stack\nLead Manipulation Engineer\nTypically reached with 10+ years of relevant experience, including experience guiding engineers\nStaff-level technical scope plus people-leadership responsibilities: direct reports, hiring, performance, and team planning\nDemonstrated ability to grow engineers and run a healthy, productive team\nRequirements\nCore qualifications (all levels)\nA strong background in robotic manipulation, with hands-on experience on multi-DOF arms in real systems. We weigh what you've built and shipped over where your degree is from. An advanced degree in Robotics, Mechanical, Electrical, Aerospace Engineering, CS, or a related field is one path in. Equivalent industry experience is another.\nStrong foundations in motion planning, control theory, optimization, and dynamical systems\nDeep understanding of coordinate transformations, forward/inverse kinematics, Jacobians, and robot dynamics\nExperience with motion planning tools (e.g., MoveIt, OMPL, or custom optimization-based planners)\nExperience with multi-body dynamics, modeling, and simulation (e.g., MuJoCo, Gazebo, Isaac, Bullet/PyBullet)\nExperience with ROS 2 and real-time middleware\nProficiency in modern C++ (C++17/20) and Python\nExperience with Unix/Linux environments and software engineering best practices (version control, CI/CD)\nMaster’s or PhD in Robotics, Mechanical Engineering, Electrical Engineering, Aerospace Engineering, Computer Science, or a related field.\n3+ years of hands-on experience in robotic manipulation, specifically with multi-DOF (Degree of Freedom) arms.\nStrong foundations in motion planning, control theory and optimization, along with experience in dynamical systems.\nDeep understanding of coordinate transformations, forward/inverse kinematics, Jacobians, and robot dynamics.\nExperience with motion planning software tools (e.g., MoveIt, OMPL, or custom optimization-based planners).\nExperience with multi-body dynamics, modeling, and simulation (e.g., MuJoCo, Gazebo, Isaac, Bullet/PyBullet).\nExperience with ROS 2 and real-time middleware.\nProficiency in modern C++ (C++17/20) and Python for development and tooling.\nExperience with Unix/Linux environments and software engineering best practices (version control, CI/CD).\nPreferred qualifications\nExperience with legged or humanoid robots\nExperience applying Reinforcement Learning, Vision Language Models, or Vision-Language-Action models to robotic decision-making and task planning\nFamiliarity with 3D perception, point cloud processing, and vision-based feedback in manipulation loops\nBackground in whole-body control frameworks (operational space control, MPC, and similar)\nExperience with force-feedback control or hand-eye calibration\nPublications or significant open-source contributions in robotics or machine learning\nDemonstrated ability to lead technical efforts and mentor engineers\nWhat we offer\nWork with state-of-the-art robots in challenging real-world environments\nHands-on hardware experience alongside strong software and simulation infrastructure\nA collaborative, technically rigorous culture with emphasis on learning and ownership\nAccess to real robots, real data, and real impact\nThe anticipated starting base salary for this position is $140,000 to $185,000 per year, placed by level as described above\nLocation\nPhiladelphia, PA (no remote candidates considered at this time). Opportunities to work from home with prior approval.\nTravel\nNo travel required.\nCompensation\nCompetitive base, full benefits and highly motivating equity incentive package. Flexible time-off policy. Focus on output and ability to work with a stellar team of interdisciplinary functions.\nBackground Check\nClear standard background checks, pre-hire, post hire and anytime during employment as required.\nResidency Requirements\nPermanent Residency Required.\nPhysical Requirements\nProlonged periods of standing, sitting at a desk and working on a computer.\nMust be able to lift 10 pounds. 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