Bringing the power of deep learning to data in tables

Amazon’s TabTransformer model is now available through SageMaker JumpStart and the official release of the Keras open-source library.

In recent years, deep neural networks have been responsible for most top-performing AI systems. In particular, natural-language processing (NLP) applications are generally built atop Transformer-based language models such as BERT.

One exception to the deep-learning revolution has been applications that rely on data stored in tables, where machine learning approaches based on decision trees have tended to work better.

At Amazon Web Services, we have been working to extend Transformers from NLP to table data with TabTransformer, a novel, deep, tabular, data-modeling architecture for supervised and semi-supervised learning.

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Starting today, TabTransformer is available through Amazon SageMaker JumpStart, where it can be used for both classification and regression tasks. TabTransformer can be accessed through the SageMaker JumpStart UI inside of SageMaker Studio or through Python code using SageMaker Python SDK. To get started with TabTransformer on SageMaker JumpStart, please refer to the program documentation.

We are also thrilled to see that TabTransformer has gained attention from people across industries: it has been incorporated into the official repository of Keras, a popular open-source software library for working with deep neural networks, and it has featured in posts on Towards Data Science and Medium. We also presented a paper on the work at the ICLR 2021 Workshop on Weakly Supervised Learning.

The TabTransformer solution

TabTransformer uses Transformers to generate robust data representations — embeddings — for categorical variables, or variables that take on a finite set of discrete values, such as months of the year. Continuous variables (such as numerical values) are processed in a parallel stream.

We exploit a successful methodology from NLP in which a model is pretrained on unlabeled data, to learn a general embedding scheme, then fine-tuned on labeled data, to learn a particular task. We find that this approach increases the accuracy of TabTransformer, too.

In experiments on 15 publicly available datasets, we show that TabTransformer outperforms the state-of-the-art deep-learning methods for tabular data by at least 1.0% on mean AUC, the area under the receiver-operating curve that plots false-positive rate against false-negative rate. We also show that it matches the performance of tree-based ensemble models.

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In the semi-supervised setting, when labeled data is scarce, DNNs generally outperform decision-tree-based models, because they are better able to take advantage of unlabeled data. In our semi-supervised experiments, all of the DNNs outperformed decision trees, but with our novel unsupervised pre-training procedure, TabTransformer demonstrated an average 2.1% AUC lift over the strongest DNN benchmark.

Finally, we also demonstrate that the contextual embeddings learned from TabTransformer are highly robust against both missing and noisy data features and provide better interpretability.

Tabular data

To get a sense of the problem our method addresses, consider a table where the rows represent different samples and the columns represent both sample features (predictor variables) and the sample label (the target variable). TabTransformer takes the features of each sample as input and generates an output to best approximate the corresponding label.

In a practical industry setting, where the labels are partially available (i.e., semi-supervised learning scenarios), TabTransformer can be pre-trained on all the samples without any labels and fine-tuned on the labeled samples.

Additionally, companies usually have one large table (e.g., describing customers/products) that contains multiple target variables, and they are interested in analyzing this data in multiple ways. TabTransformer can be pre-trained on the large number of unlabeled samples once and fine-tuned multiple times for multiple target variables.

The architecture of TabTransformer is shown below. In our experiments, we use standard feature-engineering techniques to transform data types such as text, zip codes, and IP addresses into either numeric or categorical features.

Graphic shows the architecture of TabTransformer.
The architecture of TabTransformer.

Pretraining procedures

We explore two different types of pre-training procedures: masked language modeling (MLM) and replaced-token detection (RTD). In MLM, for each sample, we randomly select a certain portion of features to be masked and use the embeddings of the other features to reconstruct the masked features. In RTD, for each sample, instead of masking features, we replace them with random values chosen from the same columns.

In addition to comparing TabTransformer to baseline models, we conducted a study to demonstrate the interpretability of the embeddings produced by our contextual-embedding component.

In that study, we took contextual embeddings from different layers of the Transformer and computed a t-distributed stochastic neighbor embedding (t-SNE) to visualize their similarity in function space. More precisely, after training TabTransformer, we pass the categorical features in the test data through our trained model and extract all contextual embeddings (across all columns) from a certain layer of the Transformer. The t-SNE algorithm is then used to reduce each embedding to a 2-D point in the t-SNE plot.

T-SNE plots of learned embeddings for categorical features in the dataset BankMarketing. Left: The embeddings generated from the last layer of the Transformer. Center: The embeddings before being passed into the Transformer. Right: The embeddings learned by the model without the Transformer layers.
T-SNE plots of learned embeddings for categorical features in the dataset BankMarketing. Left: The embeddings generated from the last layer of the Transformer. Center: The embeddings before being passed into the Transformer. Right: The embeddings learned by the model without the Transformer layers.

The figure above shows the 2-D visualization of embeddings from the last layer of the Transformer for the dataset bank marketing. We can see that semantically similar classes are close to each other and form clusters (annotated by a set of labels) in the embedding space.

For example, all of the client-based features (colored markers), such as job, education level, and marital status, stay close to the center, and non-client-based features (gray markers), such as month (last contact month of the year) and day (last contact day of the week), lie outside the central area. In the bottom cluster, the embedding of having a housing loan stays close to that of having defaulted, while the embeddings of being a student, single marital status, not having a housing loan, and tertiary education level are close to each other.

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The center figure is the t-SNE plot of embeddings before being passed through the Transformer (i.e., from layer 0). The right figure is the t-SNE plot of the embeddings the model produces when the Transformer layers are removed, converting it into an ordinary multilayer perceptron (MLP). In those plots, we do not observe the types of patterns seen in the left plot.

Finally, we conduct extensive experiments on 15 publicly available datasets, using both supervised and semi-supervised learning. In the supervised-learning experiment, TabTransformer matched the performance of the state-of-the-art gradient-boosted decision-tree (GBDT) model and significantly outperformed the prior DNN models TabNet and Deep VIB.

Model name

Mean AUC (%)

TabTransformer

82.8 ± 0.4

MLP

81.8 ± 0.4

Gradient-boosted decision trees

82.9 ± 0.4

Sparse MLP

81.4 ± 0.4

Logistic regression

80.4 ± 0.4

TabNet

77.1 ± 0.5

Deep VIB

80.5 ± 0.4

Model performance with supervised learning. The evaluation metric is mean standard deviation of AUC score over the 15 datasets for each model. The larger the number, the better the result. The top two numbers are bold.

In the semi-supervised-learning experiment, we pretrain two TabTransformer models on the entire unlabeled set of training data, using the MLM and RTD methods respectively; then we fine-tune both models on labeled data.

As baselines, we use the semi-supervised learning methods pseudo labeling and entropy regularization to train both a TabTransformer network and an ordinary MLP. We also train a gradient-boosted-decision-tree model using pseudo-labeling and an MLP using a pretraining method called the swap-noise denoising autoencoder.

# Labeled data

50

200

500

TabTransformer-RTD

66.6 ± 0.6

70.9 ± 0.6

73.1 ± 0.6

TabTransformer-MLM

66.8 ± 0.6

71.0 ± 0.6

72.9 ± 0.6

ER-MLP

65.6 ± 0.6

69.0 ± 0.6

71.0 ± 0.6

PL-MLP

65.4 ± 0.6

68.8 ± 0.6

71.0 ± 0.6

ER-TabTransformer

62.7 ± 0.6

67.1 ± 0.6

69.3 ± 0.6

PL-TabTransformer

63.6 ± 0.6

67.3 ± 0.7

69.3 ± 0.6

DAE

65.2 ± 0.5

68.5 ± 0.6

71.0 ± 0.6

PL-GBDT

56.5 ± 0.5

63.1 ± 0.6

66.5 ± 0.7

Semi-supervised-learning results on six datasets, each with more than 30,000 unlabeled data points, and different number of labeled data points. Evaluation metric is mean AUC in percentage.

# Labeled data

50

200

500

TabTransformer-RTD

78.6 ± 0.6

81.6 ± 0.5

83.4 ± 0.5

TabTransformer-MLM

78.5 ± 0.6

81.0 ± 0.6

82.4 ± 0.5

ER-MLP

79.4 ± 0.6

81.1 ± 0.6

82.3 ± 0.6

PL-MLP

79.1 ± 0.6

81.1 ± 0.6

82.0 ± 0.6

ER-TabTransformer

77.9 ± 0.6

81.2 ± 0.6

82.1 ± 0.6

PL-TabTransformer

77.8 ± 0.6

81.0 ± 0.6

82.1 ± 0.6

DAE

78.5 ± 0.7

80.7 ± 0.6

82.2 ± 0.6

PL-GBDT

73.4 ± 0.7

78.8 ± 0.6

81.3 ± 0.6

Semi-supervised learning results on nine datasets, each with fewer than 30,000 data points, and different numbers of labeled data points. Evaluation metric is mean AUC in percentage.

To gauge relative performance with different amounts of unlabeled data, we split the set of 15 datasets into two subsets. The first set consists of the six datasets that containing more than 30,000 data points. The second set includes the remaining nine datasets.

When the amount of unlabeled data is large, TabTransformer-RTD and TabTransformer-MLM significantly outperform all the other competitors. Particularly, TabTransformer-RTD/MLM improvement are at least 1.2%, 2.0%, and 2.1% on mean AUC for the scenarios of 50, 200, and 500 labeled data points, respectively. When the number of unlabeled data becomes smaller, as shown in Table 3, TabTransformer-RTD still outperforms most of its competitors but with a marginal improvement.

Acknowledgments: Ashish Khetan, Milan Cvitkovic, Zohar Karnin

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About the Role: We are looking for a Member of Technical Staff - Mechanical Engineer with a passion for building complex robotic systems from the ground up. This role is ideal for someone with a deep understanding of structural and electromechanical design, who thrives in hands-on environments and has experience taking high-performance robots from concept to production. You will work on the mechanical and system architecture of advanced robotics platforms, including high degree-of-freedom systems, where considerations such as actuator selection, thermal constraints, cabling, sensing integration, and manufacturability are critical. This is a cross-disciplinary role requiring close collaboration with electrical, software, and AI research teams. Beyond day-to-day hardware development, this role also provides exciting avenues to contribute to innovative research projects. Whether you’re interested in mechatronics, sensor integration, or novel actuation methods, you’ll find opportunities to explore your research interests while building real-world systems that advance in the field of high degree-of-freedom robotics. What You Bring: * A systems-thinking mindset with a strong grasp of cross-domain engineering tradeoffs. * A bias toward action: comfortable building, testing, and iterating rapidly. * A collaborative and communicative working style — especially in multi-disciplinary research environments. * A passion for robotics and advancing the state of the art in intelligent, capable machines. Key job responsibilities * Lead mechanical design of robotic subsystems and full platforms, including structures, joints, enclosures, and mechanisms for a research environment. * Own kinematic, dynamic, and structural analyses to guide the design and optimization of full systems and subsystems of high-DoF robots * Specify and integrate actuators and motors for high-torque density applications in high-degree-of-freedom systems. * Contribute to thermal management strategies for motors, sensors, and embedded compute hardware. * Integrate sensors such as lidar, stereo cameras, IMUs, tactile sensors, and compute modules into compact, functional assemblies. * Design and route cabling and wire harnesses, ensuring reliability, serviceability, and thermal/electrical integrity. * Prototype and test mechanical systems; support hands-on builds, debug sessions, and field testing. * Conduct root cause analysis on system-level failures or performance issues and implement design improvements. * Apply Design for Manufacturing (DFM) and Design for Assembly (DFA) principles to transition prototypes into scalable builds (10s–100s of units). * Collaborate with cross-functional teams in electrical engineering, controls, perception, and research to meet research and product goals. About the team Frontier AI & Robotics (FAR) is the team at Amazon building the next generation of embodied intelligence. FAR drives the development and implementation of advanced AI models within Amazon’s operations that enable robots to see, reason, and act on the world around them, supporting a number of different warehouse automation tasks.
US, MA, N.reading
Amazon is seeking exceptional talent to help develop the next generation of advanced robotics systems that will transform automation at Amazon's scale. We're building revolutionary robotic systems that combine cutting-edge AI, sophisticated control systems, and advanced mechanical design to create adaptable automation solutions capable of working safely alongside humans in dynamic environments. This is a unique opportunity to shape the future of robotics and automation at an unprecedented scale, working with world-class teams pushing the boundaries of what's possible in robotic dexterous manipulation, locomotion, and human-robot interaction. This role presents an opportunity to shape the future of robotics through innovative applications of deep learning and large language models. At Amazon we leverage advanced robotics, machine learning, and artificial intelligence to solve complex operational challenges at an unprecedented scale. Our fleet of robots operates across hundreds of facilities worldwide, working in sophisticated coordination to fulfill our mission of customer excellence. The ideal candidate will contribute to research that bridges the gap between theoretical advancement and practical implementation in robotics. You will be part of a team that's revolutionizing how robots learn, adapt, and interact with their environment. Join us in building the next generation of intelligent robotics systems that will transform the future of automation and human-robot collaboration. Key job responsibilities - Design and implement whole body control methods for balance, locomotion, and dexterous manipulation - Utilize state-of-the-art in methods in learned and model-based control - Create robust and safe behaviors for different terrains and tasks - Implement real-time controllers with stability guarantees - Collaborate effectively with multi-disciplinary teams to co-design hardware and algorithms for loco-manipulation - Mentor junior engineer and scientists
US, CA, San Francisco
Amazon is seeking exceptional talent to help develop the next generation of advanced robotics systems that will transform automation at Amazon's scale. We're building revolutionary robotic systems that combine cutting-edge AI, sophisticated control systems, and advanced mechanical design to create adaptable automation solutions capable of working safely alongside humans in dynamic environments. This is a unique opportunity to shape the future of robotics and automation at unprecedented scale, working with world-class teams pushing the boundaries of what's possible in robotic manipulation, locomotion, and human-robot interaction. This role presents an opportunity to shape the future of robotics through innovative applications of deep learning and large language models. The ideal candidate will contribute to research that bridges the gap between theoretical advancement and practical implementation in robotics. You will be part of a team that's revolutionizing how robots learn, adapt, and interact with their environment. Join us in building the next generation of intelligent robotics systems that will transform the future of automation and human-robot collaboration. As an Applied Scientist, you will develop and improve machine learning systems that help robots perceive, reason, and act in real-world environments. You will leverage state-of-the-art models (open source and internal research), evaluate them on representative tasks, and adapt/optimize them to meet robustness, safety, and performance needs. You will invent new algorithms where gaps exist. You’ll collaborate closely with research, controls, hardware, and product-facing teams, and your outputs will be used by downstream teams to further customize and deploy on specific robot embodiments. Key job responsibilities As an Applied Scientist in the Foundations Model team, you will: - Leverage state-of-the-art models for targeted tasks, environments, and robot embodiments through fine-tuning and optimization. - Execute rapid, rigorous experimentation with reproducible results and solid engineering practices, closing the gap between sim and real environments. - Build and run capability evaluations/benchmarks to clearly profile performance, generalization, and failure modes. - Contribute to the data and training workflow: collection/curation, dataset quality/provenance, and repeatable training recipes. - Write clean, maintainable, well commented and documented code, contribute to training infrastructure, create tools for model evaluation and testing, and implement necessary APIs - Stay current with latest developments in foundation models and robotics, assist in literature reviews and research documentation, prepare technical reports and presentations, and contribute to research discussions and brainstorming sessions. - Work closely with senior scientists, engineers, and leaders across multiple teams, participate in knowledge sharing, support integration efforts with robotics hardware teams, and help document best practices and methodologies. About the team We leverage advanced robotics, machine learning, and artificial intelligence to solve complex operational challenges at unprecedented scale. Our fleet of robots operates across hundreds of facilities worldwide, working in sophisticated coordination to fulfill our mission of customer excellence. We are pioneering the development of robotics foundation models that: - Enable unprecedented generalization across diverse tasks - Integrate multi-modal learning capabilities (visual, tactile, linguistic) - Accelerate skill acquisition through demonstration learning - Enhance robotic perception and environmental understanding - Streamline development processes through reusable capabilities
US, CA, San Francisco
Amazon is seeking an exceptional Sr. Applied Scientist to lead the development of perception systems that harness the power of radar and thermal imaging — enabling robots to perceive and operate reliably in conditions where conventional vision alone falls short. In this role, you will develop ML-driven perception pipelines for non-traditional sensing modalities, pushing the boundaries of what robots can see, understand, and act upon in challenging real-world environments. At Amazon, we leverage advanced robotics, machine learning, and artificial intelligence to solve some of the most complex operational challenges at a scale unlike anywhere else in the world. Our fleet of robots spans hundreds of facilities globally, working in sophisticated coordination to deliver on our promise of customer excellence. As a Sr. Applied Scientist in Multi-Modal Perception, you will apply deep computer vision expertise alongside classical signal processing techniques for radar and thermal imaging — modalities that provide robustness in adverse conditions and sensing capability beyond the visible spectrum. You will develop ML-based methods to extract semantic and geometric information from radar point clouds, radar tensors, and thermal imagery, and fuse these with camera and depth data to build perception systems that are reliable, comprehensive, and ready for deployment at scale. Your work will unlock new capabilities for our robots — enabling reliable detection, classification, and scene understanding in low-visibility conditions, cluttered environments, and scenarios where traditional RGB-based perception is insufficient. You will lead research that translates cutting-edge advances in deep learning and computer vision to these underexplored but high-impact sensing modalities. Join us in building the next generation of multi-modal perception systems that will define the future of autonomous robotics at scale. Key job responsibilities - Lead the research, design, and development of ML-based perception pipelines for radar and thermal/infrared imaging modalities - Develop deep learning models for object detection, classification, segmentation, and tracking using radar data (point clouds, range-Doppler maps, radar tensors) and thermal imagery - Design and implement multi-modal fusion architectures that combine radar, thermal, camera, and depth data for robust, all-condition perception - Develop novel representations and feature extraction methods tailored to the unique characteristics of radar and thermal sensors (sparsity, noise profiles, spectral properties) - Build end-to-end perception systems — from raw sensor data processing and calibration to model training, evaluation, and real-time deployment - Collaborate closely with Hardware, Navigation, Planning, and Controls teams to define sensor configurations and deliver integrated autonomy solutions - Establish benchmarks, datasets, and evaluation frameworks for radar and thermal perception - Mentor scientists and engineers; foster a culture of scientific rigor, innovation, and high-impact delivery - Publish research findings in top-tier venues (CVPR, ICCV, ECCV, ICRA, NeurIPS, etc.) and contribute to patents A day in the life - Train ML models for deployment in simulation and real-world robots, identify and document their limitations post-deployment - Drive technical discussions within your team and with key stakeholders to develop innovative solutions to address identified limitations - Actively contribute to brainstorming sessions on adjacent topics, bringing fresh perspectives that help peers grow and succeed — and in doing so, build lasting trust across the team - Mentor team members while maintaining significant hands-on contribution to technical solutions About the team Our team is a diverse group of scientists and engineers passionate about building intelligent machines. We value curiosity, rigor, and a bias for action. We believe in learning from failure and iterating quickly toward solutions that matter.