Senior Software Engineer, Planning ML Integration

We're building the next generation of planning capabilities by integrating learned models into autonomous vehicle decision-making. You'll translate neural network outputs to reliable vehicle behaviors. In this role, you will enhance our motion planner by incorporating machine learning models. You will define the interfaces, requirements, and integration strategies necessary to meaningfully improve decision-making in complex, real-world environments. 

In addition to this effort, you will contribute broadly to the evolution of our planning stack by developing new features, improving core algorithms, and strengthening the overall architecture. This is a high-impact role for an engineer who enjoys bridging disciplines, shaping emerging capabilities, and advancing state-of-the-art autonomy through thoughtful, rigorous engineering.

What you’ll do:

• Incorporate neural networks into the planning stack, working closely with ML, perception, and systems teams.
• Evaluate how learned inputs influence planner performance, in simulation and on-road.
• Architect fallback, hybrid, or arbitration strategies that maintain safety and reliability when learned models are uncertain or degraded.
• Contribute to the broader planning system by designing and implementing new planning behaviors, search strategies, optimizations, and structural improvements.
• Write high-quality C++ code that meets real-time constraints and supports safety-critical deployment.
• Participate in code reviews, design discussions, and cross-team planning to ensure alignment and technical excellence.

What you’ll bring:

• Strong software engineering skills with proficiency in C++. Python proficiency is a plus.
• Experience integrating ML models or learned components into a real-time system.
• A strong background in robotics, planning, optimization, and mathematics (MS, PhD, or equivalent experience).
• Industry experience in robotics or autonomous driving.
• Experience working in large-scale or safety-critical systems with strict performance requirements.
• Experience evaluating or interpreting ML model outputs.
• Strong analytical skills, including the ability to reason about algorithmic trade-offs and system behavior.
• Excellent communication skills and comfort working across teams.
• A desire to collaborate with other teams outside of planning.

What we offer:

• Competitive compensation package including equity and annual bonuses
• Excellent Medical, Dental, and Vision plans through Kaiser Permanente, Cigna, and  MetLife (including a medical plan with infertility benefits)
• MetLife Legal Services, Identity & Fraud Protection, Hospital Indemnity Insurance, Accident Insurance, & Critical Illness Insurance
• Flexible PTO, 10 paid holidays, and generous parental leave policies
• Our office is centrally located in Mountain View, CA
• Office perks: dog-friendly, free catered lunch, a fully stocked kitchen, and free EV charging
• Long Term Disability, Short Term Disability, Life Insurance
• Wellbeing Benefits - Headspace through Cigna, Calm through Kaiser, One Medical, Gympass, Spring Health through Cigna, Rula (mental health navigation) 
• Fidelity 401(k)
• Commuter, FSA, Dependent Care FSA, HSA
• Various incentive programs (referral bonuses, patent bonuses, etc.)