Simulation/RL Integration Engineer

Lumen (

https://lumenresearch.ai

) is building the cognitive layer for physical AI. Most robotics efforts today learn from thousands of hours of human teleoperation; we think that has a ceiling. White paper:

http://lumenresearch.co/paper

Team of two ex-founders — you'd be #3. Pre-seed, runway well into 2027, raising a seed later this year.

We test many model architectures against many sims, and hooking them together is our biggest pain point. We use Gymnasium and Shimmy as the plumbing and upstream useful pieces as open-source contributions. You'd build per-sim adapters to a shared interface contract, bridge single-env vs. GPU-vectorized and sync vs. async paradigms, and own our eval harness.

Looking for: strong Python, Gymnasium (especially the vector API), hands-on experience with Isaac, MuJoCo, or Gazebo, and a track record of getting models running in sims where they didn't before.

Full posting

https://desert-bearskin-26d.notion.site/Simulation-Engineer-...