Senior Software Engineer, Behavior Prediction- Planning

Kodiak Robotics, Inc. was founded in 2018 and has become a leader in autonomous ground transportation committed to a safer and more efficient future for all. The company has developed an artificial intelligence (AI) powered technology stack purpose-built for commercial trucking and the public sector. The company delivers freight daily for its customers across the southern United States using its autonomous technology. In 2024, Kodiak became the first known company to publicly announce delivering a driverless semi-truck to a customer. Kodiak is also leveraging its commercial self-driving software to develop, test and deploy autonomous capabilities for the U.S. Department of Defense.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 bonusesExcellent 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 InsuranceFlexible PTO, 10 paid holidays, and generous parental leave policiesOur office is centrally located in Mountain View, CAOffice perks: dog-friendly, free catered lunch, a fully stocked kitchen, and free EV chargingLong Term Disability, Short Term Disability, Life InsuranceWellbeing 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, HSAVarious incentive programs (referral bonuses, patent bonuses, etc.)The pay range listed below reflects the base salary in our SF/Silicon Valley location, across several internal levels. Actual starting pay will be based on job-related factors including: work location, experience, relevant training, education, skill level and performance during interview. Total compensation at Kodiak includes base pay, equity, bonus and a competitive benefits packageCalifornia Pay Range$170,000—$210,000 USDAt Kodiak, we strive to build a diverse community working towards our common company goals in a safe and collaborative environment where harassment of any kind is strictly prohibited. Kodiak is committed to equal opportunity employment regardless of race, ethnicity, religion, gender identity, sexual orientation, age, disability, or veteran status, or any other basis protected by applicable law.In alignment with its business operations, Kodiak adheres to all relevant statutes, regulations, and administrative prerequisites. Accordingly, roles that carry more sensitive requirements may be limited to candidates that can satisfy additional scrutiny and eligibility for such positions may hinge on verification of a candidate’s residence, U.S. person status, and/or citizenship status. Should the position require, and Kodiak determines that a candidate’s residence, U.S. person status, and/or citizenship status necessitate an export license, bar the candidate from the position, or otherwise fall under national security-related restrictions, Kodiak will consider the candidate for alternative positions unaffected by such restrictions, under terms and conditions set forth at Kodiak’s sole discretion, or, as an alternative, opt not to proceed with the candidate’s application. If applicable, Kodiak may provide visa sponsorship for eligible candidates.We use a third-party AI tool (Endorsed) to assist in the initial screening of applications. As part of the evaluation process, we provide Endorsed with job requirements and candidate-submitted applications. Final hiring decisions are made by our human recruitment team, and no automated system makes the ultimate decision regarding hiring. Certain features of the platform may qualify it as an Automated Employment Decision Tool (AEDT) under applicable regulations. We began using Endorsed on January 1, 2026. You can review the independent bias audit report covering our use of Endorsed [here](). By submitting your application, you acknowledge that your application may be processed by AI systems as part of the screening and selection process. If you have any questions or would like to request a separate review of your application, please contact View email address on click.appcast.io with "Separate Review Request" in the email subject line.