Senior Software Engineer, Behavior Prediction- Planning

We are looking for a Senior Software Engineer to improve behavior prediction for autonomous driving. In this role, you will work on how our autonomy system predicts the behavior, intent, and future motion of other road users, and how those predictions are used by the planning system to make safe, comfortable, and effective decisions.

This role is ideal for someone with deep experience in autonomous vehicle prediction, trajectory prediction, behavior modeling, or actor intent understanding. You will work closely with Planning and ML engineers to improve prediction quality, model integration, evaluation, and downstream planning behavior.

This is not only an ML integration role. Through this high-impact role, you will improve prediction using the most effective approach for the problem, whether that means improving heuristic prediction logic, collaborating on learned prediction models, refining prediction-planning interfaces, or changing how Planning consumes prediction outputs.

In this role, you will:

• Own prediction improvements within the Planning team. Advance prediction models and collaborate closely with ML teams on learned prediction models, model outputs, uncertainty, and failure modes.
• Improve prediction-planning interfaces, including confidence, uncertainty, intent representation, and fallback behavior.
• Collaborate on projects that improve planning behavior in scenarios where actor intent is uncertain or changing.
• Define metrics and evaluation frameworks for prediction quality as it relates to planning behavior. Analyze prediction-related planning failures using logs, simulation, metrics, and scenario-based evaluation.
• Lead technical projects and mentor junior engineers.

What you’ll bring:

• Strong experience with behavior prediction, trajectory prediction, actor intent modeling, or related autonomous vehicle prediction problems.
• Strong software engineering skills with proficiency in C++. Python proficiency is a plus.
• Experience working with planning systems and understanding of how prediction impacts planning, safety, comfort, and system behavior.
• Ability to analyze complex autonomy failures using logs, metrics, and simulation.
• Strong collaboration skills across Perception, Planning, ML, Simulation, and Systems teams.
• Strong system-level judgment around prediction uncertainty, safety, and deployment and ability to reason across heuristic, learned, and hybrid prediction approaches.

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.)