Improving LLM pretraining with better data organization

“Best-fit packing” adapts bin-packing to avoid unnecessary truncation of training documents, improving LLM performance across a wide range of tasks and reducing hallucination.

The documents used to train a large language model (LLM) are typically concatenated to form a single “superdocument”, which is then divided into sequences that match the model's context length. This improves training efficiency but often results in unnecessary truncations, where individual documents are broken up across successive sequences.

Related content
Contiguous parameter management and prefetched activation offloading expand the MiCS tool kit.

In paper we’re presenting at this year’s International Conference on Machine Learning (ICML 2024), titled “Fewer truncations improve language modeling”, we report an in-depth study of this common concatenation-chunking document-processing method. We found that it severely impairs the model's ability to understand contextual coherence and factual consistency. This not only affects the model's performance on downstream tasks but also increases the risk of hallucinations.

To address this issue, we propose best-fit packing, an innovative document-processing strategy that optimizes document combinations to eliminate unnecessary text truncations. In experiments, we compared a model trained using best-fit packing to one trained in the ordinary way on six downstream tasks: reading comprehension, natural-language inference, context following, summarization, commonsense and closed-book question answering, and program synthesis. We found that best-fit packing monotonically improves performance on an array of 22 sub-tasks, by as much as 15% (program synthesis) to 17% (context following). Importantly, best-fit packing also reduces closed-domain hallucination effectively by up to 58.3%.

Best-fit packing.png
A comparison of best-fit packing (left), which seeks to minimize document truncation, with the standard approach to large-language-model training, which concatenates training documents and then divides them into fixed-length sequences.

Consequences of truncation

In the analysis reported in our paper, we identified several problems caused by document truncation, including undefined names, ungrounded content, and missing knowledge.

Related content
Prompt engineering enables researchers to generate customized training examples for lightweight “student” models.

Undefined names: In programming languages like Python, truncation may separate definitions of variables from their invocations, introducing syntax errors and causing some variables to be undefined. As a consequence, the model may learn misleading patterns and possibly hallucinate on downstream tasks.

Ungrounded content: Truncation damages data integrity. In the example below, for instance, a reference (“the earthquake on Monday morning”) is separated from its antecedent, resulting in unfaithful generation.

Missing knowledge: Truncation hinders knowledge acquisition. In the example below, the model cannot learn the location of the ICML conference because the conference name and location occur in different training sequences.

Truncation errors.png
Examples of three common truncation errors: (a) undefined names, (b) ungrounded content, and (c) missing knowledge.

Best-fit packing

To address this issue, we propose optimizing the assignment of documents to training sequences so as to eliminate unnecessary truncations, while minimally increasing the number of sequences relative to concatenation. This is a variation of the well-known bin-packing problem, which is NP-hard in general, but we use a heuristic called the best-fit-decreasing (BFD) algorithm that tends to work well in practice. We thus call our method best-fit packing.

The normal implementation of BFD has quasi-linear time complexity, which is not efficient enough for LLM pretraining, which typically involves millions of documents. By taking advantage of the unique nature of pretraining data, however, we were able to optimize BFD so that it scales linearly with data size, ensuring its applicability to large-scale pretraining datasets. Further, we show that in practical applications, best-fit packing generates approximately the same number of training sequences as the traditional method, while significantly reducing data loss caused by truncation.

Truncations per document.png
Truncations per document as a function of document length, for both best-fit packing (pack) and concatenation (concat), for natural-language data (top) and programming-language data (bottom). The natural-language data is evaluated with context lengths of both 2,000 and 8,000.

Curious to know how we achieve it? Let’s dive deep!

Best-fit packing — an example

Following the standard bin-packing nomenclature, we call each training sequence a “bin”, and each bin has a capacity equal to the LLM’s context size. The goal is to assign a combination of whole documents to each bin so as to minimize the wasted bin capacity.

First, we divide any document that’s larger than the LLM context into context-length chunks, plus a remainder. Then we sort the documents (and document fragments) from largest to smallest. Finally, we work our way down the sorted list, assigning each document to the bin whose available space is as close to the document size as possible.

Related content
Novel “checkpointing” scheme that uses CPU memory reduces the time wasted on failure recovery by more than 92%.

To maximize efficiency, we use three data structures to manage the assignment of documents to bins: a binary tree and two tables. We can use this design because (1) the maximum bin size is the model’s context size, so the tree won’t be too deep, and (2) we do not need to distinguish bins with the same remaining capacity, which simplifies the the tree. Instead, we use the tables to map bin capacities to bins.

Consider a simple example, in which the context size (the bin size) is eight. The binary tree has eight leaves, corresponding to the eight possibilities for available space in any given bin. (In a real LLM, the context size is on the order of thousands of tokens, so the tree would have thousands of leaves.)

Each parent node of the tree has an associated number, indicating the size of the largest available bin slot among its descendants. The number associated with the parent’s right child is always greater than or equal to the number associated with the left child.

Initially, the value of the rightmost node in each layer of the tree is eight, and all the other nodes have values of zero. This means that all the available bin slots have a capacity of eight.

Best-fit initialization.png
The initial states of the three data structures we use to implement best-fit packing. The rightmost node of each layer of the tree has a value of eight, and all other nodes have values of zero, indicating that all the bins are empty (i.e., are at maximum capacity).

Now consider a later state, when four documents of size eight, six, six, and four have been packed. The two bins containing documents of size six have available slots of size two (8 – 6), and the bin containing a document of size four has an available slot of size four (8 – 4). These sizes are represented by the numbers two and four at leaves two and four of the tree. Multiple bins remain empty, so leaf eight has a value of eight, too.

Note that the value two at leaf two indicates only that at least one bin slot of size two is available; it doesn’t indicate how many such slots there are or where they can be found. That information is contained in the tables.

Tree after packing.png
The state of the data structures after four documents of sizes six, six, four, and eight have been packed.

Now consider a document of size three, which we wish to assign to a bin. To find the best available bin slot, simply go left at each node of the tree, unless going left leads to a node whose value is less than the document size, in which case, go right.

Document packing.png
Tree traversal identifies the available bin slot that best fits the new document.

The best fit for a document of size three is a slot of size four, and in the “space-to-bins” table, we see that there is one bin — bin three — with a slot of that size. So there we place the document.

Finally, we update all three data structures to reflect the new placement:

Data structure update.png
Data structure updates after the document (item four) of size three has been packed. The tree leaf corresponding to slot sizes of four is reset to zero, and the tree leaf corresponding to slot sizes of one is set to one. The tables are updated accordingly.

Results

To evaluate the effect of bin-packing on downstream tasks, we pretrained models of 7 billion and 13 billion parameters with context lengths of 2,000 and 8,000 on text and code using both best-fit packing and concatenation. We then tested both sets of models on our six downstream tasks. On average, across multiple datasets, context lengths, and metrics, best-fit packing offered better performance on all six tasks. The biggest gains came in reading comprehension (+4.7%), natural-language inference (+9.3%), context following (+16.8%), and program synthesis (+15.0%).

Related content
In a series of papers, Amazon researchers performed a theoretical analysis of a simplified problem that led to a learnable learning-rate scheduler, applied that scheduler to a more complex neural model, and distilled the results into a practical algorithm.

We also found that best-fit packing helped prevent closed-domain hallucination, particularly in program synthesis tasks, where it reduced "undefined name" errors by up to 58.3%, indicating a more complete understanding of program structure and logic.

Additionally, models trained with best-fit packing were better at following instructions, such as adhering to length constraints. And best-fit packing helped the model acquire “tail knowledge” that is truncation sensitive due to scarcity in training data. Indeed, this result suggests a possible reason for why LLMs struggle to learn long-tail knowledge.

While the experiments conducted in our paper primarily focused on LLM pretraining, best-fit packing is broadly applicable to fine tuning as well. Determining the benefits it can offer during fine tuning is an intriguing topic for future study.

Research areas

Related content

US, WA, Seattle
Are you interested in shaping the future of entertainment? Prime Video's technology teams are creating best-in-class digital video experience. Prime Video is a first-stop entertainment destination offering customers a vast collection of premium programming in one app available across thousands of devices. Prime members can customize their viewing experience and find their favorite movies, series, documentaries, and live sports – including Amazon MGM Studios-produced series and movies; licensed fan favorites; and exclusive access to coverage of live sports. All customers regardless of whether they have a Prime membership or not, can access programming from subscriptions such as Apple TV, Peacock Premium Plus, HBO Max, FOX One, Crunchyroll and MGM+, as well as more than 900 free ad-support (FAST) Channels, rent or buy titles, and enjoy even more content for free with ads. The Prime Video Personalization and Discovery team matches customers with the right content at the right time, at all touch points throughout the content discovery journey. We are looking for a customer-focused, solutions-oriented Data Scientist to help build new data-driven frameworks to understand what makes new personalization and content discovery innovations successful for users and the business. You'll be part of an embedded science team on projects that are fast-paced, challenging, and ultimately influence what millions of customers around the world see when the log into Prime Video. The ideal candidate brings strong problem-solving skills, stakeholder communication skills, and the ability to balance technical rigor with delivery speed and customer impact. You will build cross-functional support within Prime Video, assess business problems, define metrics, and support iterative scientific solutions that balance short-term delivery with long-term science roadmaps. Key job responsibilities - Use advanced statistical and machine learning techniques to extract insights from complex, large-scale data sets - Design and implement end-to-end data science workflows, from data acquisition and cleaning to model development, testing, and deployment - Support scalable, self-service data analyses by building datasets for analytics, reporting and ML use cases - Partner with product stakeholders and senior science peers to identify strategic data-driven opportunities to improve the customer experience - Communicate findings, conclusions, and recommendations to technical and non-technical stakeholders - Stay up-to-date on the latest data science tools, techniques, and best practices and help evangelize them across the organization
IN, KA, Bengaluru
Amazon Music is an immersive audio entertainment service that deepens connections between fans, artists, and creators. From personalized music playlists to exclusive podcasts, concert livestreams to artist merch, Amazon Music is innovating at some of the most exciting intersections of music and culture. We offer experiences that serve all listeners with our different tiers of service: Prime members get access to all the music in shuffle mode, and top ad-free podcasts, included with their membership; customers can upgrade to Amazon Music Unlimited for unlimited, on-demand access to 100 million songs, including millions in HD, Ultra HD, and spatial audio; and anyone can listen for free by downloading the Amazon Music app or via Alexa-enabled devices. Join us for the opportunity to influence how Amazon Music engages fans, artists, and creators on a global scale. Learn more at https://www.amazon.com/music. The Music Catalog Quality team at Amazon Music serves a key role in developing solutions to ensure and improve the quality of catalog metadata and content across the music streaming experience. We create solutions that detect, measure, and remediate quality issues in music metadata - including artist information, track attributes, versions, content tags, and provide actionable insights that enable continuous improvement of the catalog. We leverage a host of scientific and engineering technologies to accomplish this mission, including Generative AI, classical ML, Natural Language Processing, Computer Vision, and automated data validation pipelines. Key job responsibilities As an Applied Scientist, you will own the design and development of end-to-end systems. You’ll have the opportunity to create technical roadmaps, and drive production level projects that will support Amazon Science. You will work closely with Amazon scientists, and other science interns to develop solutions and deploy them into production. The ideal scientist must have the ability to work with diverse groups of people and cross-functional teams to solve complex business problems. Other responsibilities include: - Collaborate with scientists, engineers, and product managers to define and frame business problems as ML or optimization tasks. - Use machine learning, deep learning, LLMs and Agentic AI techniques to create scalable solutions for business problems - Analyze and extract relevant information from large amounts of Amazon's data to help automate and optimize key processes - Design, development and evaluation of AI models for predictive learning - Research and implement novel machine learning and statistical approaches - Implement scalable data pipelines and model-serving systems. - Analyze experimental results, draw insights, and refine models to improve accuracy and robustness. - Communicate findings and recommendations to technical and non-technical audiences.
IN, KA, Bengaluru
Amazon Music is an immersive audio entertainment service that deepens connections between fans, artists, and creators. From personalized music playlists to exclusive podcasts, concert livestreams to artist merch, Amazon Music is innovating at some of the most exciting intersections of music and culture. We offer experiences that serve all listeners with our different tiers of service: Prime members get access to all the music in shuffle mode, and top ad-free podcasts, included with their membership; customers can upgrade to Amazon Music Unlimited for unlimited, on-demand access to 100 million songs, including millions in HD, Ultra HD, and spatial audio; and anyone can listen for free by downloading the Amazon Music app or via Alexa-enabled devices. Join us for the opportunity to influence how Amazon Music engages fans, artists, and creators on a global scale. Learn more at https://www.amazon.com/music. The Music Catalog Quality team at Amazon Music serves a key role in developing solutions to ensure and improve the quality of catalog metadata and content across the music streaming experience. We create solutions that detect, measure, and remediate quality issues in music metadata - including artist information, track attributes, versions, content tags, and provide actionable insights that enable continuous improvement of the catalog. We leverage a host of scientific and engineering technologies to accomplish this mission, including Generative AI, classical ML, Natural Language Processing, Computer Vision, and automated data validation pipelines. Key job responsibilities As an Applied Scientist, you will own the design and development of end-to-end systems. You’ll have the opportunity to create technical roadmaps, and drive production level projects that will support Amazon Science. You will work closely with Amazon scientists, and other science interns to develop solutions and deploy them into production. The ideal scientist must have the ability to work with diverse groups of people and cross-functional teams to solve complex business problems. Other responsibilities include: - Collaborate with scientists, engineers, and product managers to define and frame business problems as ML or optimization tasks. - Use machine learning, deep learning, LLMs and Agentic AI techniques to create scalable solutions for business problems - Analyze and extract relevant information from large amounts of Amazon's data to help automate and optimize key processes - Design, development and evaluation of AI models for predictive learning - Research and implement novel machine learning and statistical approaches - Implement scalable data pipelines and model-serving systems. - Analyze experimental results, draw insights, and refine models to improve accuracy and robustness. - Communicate findings and recommendations to technical and non-technical audiences.
IN, KA, Bengaluru
Amazon Music is an immersive audio entertainment service that deepens connections between fans, artists, and creators. From personalized music playlists to exclusive podcasts, concert livestreams to artist merch, Amazon Music is innovating at some of the most exciting intersections of music and culture. We offer experiences that serve all listeners with our different tiers of service: Prime members get access to all the music in shuffle mode, and top ad-free podcasts, included with their membership; customers can upgrade to Amazon Music Unlimited for unlimited, on-demand access to 100 million songs, including millions in HD, Ultra HD, and spatial audio; and anyone can listen for free by downloading the Amazon Music app or via Alexa-enabled devices. Join us for the opportunity to influence how Amazon Music engages fans, artists, and creators on a global scale. Learn more at https://www.amazon.com/music. The Music Catalog Quality team at Amazon Music serves a key role in developing solutions to ensure and improve the quality of catalog metadata and content across the music streaming experience. We create solutions that detect, measure, and remediate quality issues in music metadata - including artist information, track attributes, versions, content tags, and provide actionable insights that enable continuous improvement of the catalog. We leverage a host of scientific and engineering technologies to accomplish this mission, including Generative AI, classical ML, Natural Language Processing, Computer Vision, and automated data validation pipelines. Key job responsibilities As an Applied Scientist, you will own the design and development of end-to-end systems. You’ll have the opportunity to create technical roadmaps, and drive production level projects that will support Amazon Science. You will work closely with Amazon scientists, and other science interns to develop solutions and deploy them into production. The ideal scientist must have the ability to work with diverse groups of people and cross-functional teams to solve complex business problems. Other responsibilities include: - Collaborate with scientists, engineers, and product managers to define and frame business problems as ML or optimization tasks. - Use machine learning, deep learning, LLMs and Agentic AI techniques to create scalable solutions for business problems - Analyze and extract relevant information from large amounts of Amazon's data to help automate and optimize key processes - Design, development and evaluation of AI models for predictive learning - Research and implement novel machine learning and statistical approaches - Implement scalable data pipelines and model-serving systems. - Analyze experimental results, draw insights, and refine models to improve accuracy and robustness. - Communicate findings and recommendations to technical and non-technical audiences.
US, CA, San Diego
Do you want to join an innovative team of scientists and engineers who use terabytes of data and create state-of-the-art Generative AI algorithms to push the boundaries of AI creativity? We are building foundational behavioral models for Amazon Stores using Generative AI, LLMs and Large Model training techniques that fuses general world knowledge, customer shopping behavior and Amazon e-commerce domain knowledge. We are looking for scientists who are passionate about technology, innovation, and customer experience, and are ready to make a lasting impact on the industry using intelligent and transformative AI applications. Working closely with cross-functional teams, you will be an essential part of every stage of AI development, from ideation and design to rigorous testing and successful deployment, ensuring our AI projects drive innovation and provide value for our customers. If you’re fired up about being part of a dynamic, driven team, then this is your moment to join us on this exciting journey! Key job responsibilities In this role you will leverage your background and expertise to lead developing foundational behavioral model for Amazon Stores using Generative AI, LLM and Large Model training techniques. On a day-to-day basis, you will: - Research and implement new algorithms and architectures for generative AI applications. - Optimize model performance and scalability for inference and deployment. - Collaborate with other talented applied scientists and engineers to gather and preprocess large datasets and develop an improved training infrastructure that accelerates innovation. - Experiment with SOTA methods to improve generative AI model quality. - Provide technical expertise and guidance to support the integration of generative AI solutions into various products and services.
IN, KA, Bengaluru
The Music Catalog Quality team at Amazon Music serves a key role in developing solutions to ensure and improve the quality of catalog metadata and content across the music streaming experience. We create solutions that detect, measure, and remediate quality issues in music metadata - including artist information, track attributes, versions, content tags, and provide actionable insights that enable continuous improvement of the catalog. We leverage a host of scientific and engineering technologies to accomplish this mission, including Generative AI, classical ML, Natural Language Processing, Computer Vision, and automated data validation pipelines. As an Applied Science Manager on the team, you will lead a team of scientists to define and execute a transformative vision for holistic catalog quality measurement, metadata enrichment, and content integrity. Your team will own the science solutions for foundational quality detection frameworks, metadata validation and correction technologies, state-of-the-art algorithms to identify and resolve catalog anomalies (violative content, duplicative/low value content, misattributed tracks, incorrect metadata), and/or agentic AI solutions that help internal teams quickly surface and fix quality issues to ensure customers receive accurate, complete catalog experiences. Key job responsibilities You independently manage a team of scientists. You identify the needs of your team and effectively grow, hire, and promote scientists to maintain a high-performing team. You have a broad understanding of scientific techniques, several of which may fall out of your specific job function. You define the strategic vision for your team. You establish a roadmap and successfully deliver scientific solutions that innovate on catalog quality detection, metadata enrichment, and content integrity. You define clear goals for your team and effectively prioritize, balancing short-term quality improvements and long-term innovation in catalog intelligence. You establish clear and effective metrics and scientific process to enforce consistent, high-quality artifact delivery and measurable catalog quality improvements. You proactively identify risks and bring them to the attention of your manager, customers, and stakeholders with plans for mitigation before they become roadblocks. You know when to escalate. You communicate ideas effectively, both verbally and in writing, to all types of audiences. You author strategic documentation for your team. You communicate issues and options with leaders in such a way that facilitates understanding and that leads to a decision. You work successfully with customers, leaders, and engineering teams. You foster a constructive dialogue, harmonize discordant views, and lead the resolution of contentious issues. About the team We are a team of scientists and MLEs focused on music catalog quality and metadata intelligence. You will work with colleagues with deep expertise in ML, NLP, CV, Gen AI, and data quality systems with a diverse range of backgrounds. We partner closely with top-notch engineers, product managers, content operations teams, and other scientists with expertise in music metadata, content classification, and building scalable modeling and software solutions that keep the Amazon Music catalog accurate, complete, and trustworthy.
US, CA, San Diego
Do you want to join an innovative team of scientists and engineers who use terabytes of data and create state-of-the-art Generative AI algorithms to push the boundaries of AI creativity? We are building foundational behavioral models for Amazon Stores using Generative AI, LLMs and Large Model training techniques that fuses general world knowledge, customer shopping behavior and Amazon e-commerce domain knowledge. We are looking for scientists who are passionate about technology, innovation, and customer experience, and are ready to make a lasting impact on the industry using intelligent and transformative AI applications. Working closely with cross-functional teams, you will be an essential part of every stage of AI development, from ideation and design to rigorous testing and successful deployment, ensuring our AI projects drive innovation and provide value for our customers. If you’re fired up about being part of a dynamic, driven team, then this is your moment to join us on this exciting journey! Key job responsibilities In this role you will leverage your background and expertise to lead developing foundational behavioral model for Amazon Stores using Generative AI, LLM and Large Model training techniques. On a day-to-day basis, you will: - Research and implement new algorithms and architectures for generative AI applications. - Optimize model performance and scalability for inference and deployment. - Collaborate with other talented applied scientists and engineers to gather and preprocess large datasets and develop an improved training infrastructure that accelerates innovation. - Experiment with SOTA methods to improve generative AI model quality. - Provide technical expertise and guidance to support the integration of generative AI solutions into various products and services.
US, WA, Seattle
Do you want to join an innovative team of scientists and engineers who use terabytes of data and create state-of-the-art Generative AI algorithms to push the boundaries of AI creativity? We are building foundational behavioral models for Amazon Stores using Generative AI, LLMs and Large Model training techniques that fuses general world knowledge, customer shopping behavior and Amazon e-commerce domain knowledge. We are looking for scientists who are passionate about technology, innovation, and customer experience, and are ready to make a lasting impact on the industry using intelligent and transformative AI applications. Working closely with cross-functional teams, you will be an essential part of every stage of AI development, from ideation and design to rigorous testing and successful deployment, ensuring our AI projects drive innovation and provide value for our customers. If you’re fired up about being part of a dynamic, driven team, then this is your moment to join us on this exciting journey! Key job responsibilities In this role you will leverage your background and expertise to lead developing foundational behavioral model for Amazon Stores using Generative AI, LLM and Large Model training techniques. On a day-to-day basis, you will: - Research and implement new algorithms and architectures for generative AI applications. - Optimize model performance and scalability for inference and deployment. - Collaborate with other talented applied scientists and engineers to gather and preprocess large datasets and develop an improved training infrastructure that accelerates innovation. - Experiment with SOTA methods to improve generative AI model quality. - Provide technical expertise and guidance to support the integration of generative AI solutions into various products and services.
US, MA, Boston
The Alexa Edge AI team is looking for a passionate, talented, and innovative senior applied scientist with a strong background in deep learning and speech processing techniques. You will have an enormous opportunity to impact the customer experience, design, architecture, and implementation of an industry-leading product used every day by people you know. As an Applied Scientist, you will leverage Amazon’s heterogeneous data sources and large-scale computing resources to develop novel machine learning algorithms to advance the state of the art in speech and audio processing. Key job responsibilities · Conduct applied research project(s) effectively and know when to ask for help and when to work independently · Engage with an experienced cross-disciplinary staff to conceive and design innovative solutions for consumer products. · Actively participate and contribute to research activities including publications and patents · Work closely with an internal inter-disciplinary team, and outside partners to drive key aspects of product definition, execution and test. · Be proactive, flexible and able to succeed within an open collaborative peer environment
US, CA, Pasadena
We are seeking an Applied Scientist to join the SAF Lab. In this role, you will lead the effort in safe reinforcement learning (RL) including the development of legged locomotion algorithms that internalize safety and are deployable on physical hardware—enabling highly dynamic robots to walk, run, avoid collisions and recover from disturbances with agility and robustness. You will develop RL architectures that interface with physics-based models (for dynamic retargeting and reward shaping), internalize safety constraints in training, sim-to-real transfer and interface with safety filters at run-time. Therefore, your work will sit at the intersection of safety-critical control and learning, and you will collaborate with others in the SAF Lab and Amazon working on perception, planning, whole-body and safety-critical control. This is an opportunity to shape the foundations of safe learning on emerging platforms that will remove bottlenecks to deployment and enable these robots to safely operate around humans. Key job responsibilities • Collaborate with product teams and science leaders to set a science roadmap (with eventual impact on real robots). • Design, train, and deploy reinforcement learning (RL) policies for dynamic legged locomotion including walking, running, stair climbing, and fall recovery on physical robots • Develop sim-to-real transfer pipelines that produce policies robust to the reality gap, including domain randomization, system identification, and adaptive strategies • Integrate control-based methods with RL, as inputs to the RL (dynamic retargeting and control-guided rewards), in training (internalizing safety constraints in training), and as the RL feeds into safety layers and whole-body control • Develop and maintain large-scale training infrastructure for locomotion policy learning, including physics simulation environments, domain randomization and GPU parallelization • Investigate the distillation of locomotion policies, integration with whole-body control, foundation models, VLAs, world models, perception and full-stack autonomy • Evaluate policy performance rigorously through simulation benchmarks, hardware experiments, and failure-mode analysis • Publish research at top-tier robotics and ML venues and contribute to Amazon's scientific reputation in advanced robotics • Collaborate with perception and planning teams to enable terrain-aware and goal-conditioned locomotion behaviors A day in the life Amazon offers a full range of benefits that support you and eligible family members, including domestic partners and their children. Benefits can vary by location, the number of regularly scheduled hours you work, length of employment, and job status such as seasonal or temporary employment. The benefits that generally apply to regular, full-time employees include: 1. Medical, Dental, and Vision Coverage 2. Maternity and Parental Leave Options 3. Paid Time Off (PTO) 4. 401(k) Plan If you are not sure that every qualification on the list above describes you exactly, we'd still love to hear from you! At Amazon, we value people with unique backgrounds, experiences, and skillsets. If you’re passionate about this role and want to make an impact on a global scale, please apply! About the team Work with the inventor of control barrier functions in the Safe Autonomy Frontiers (SAF) Lab. The first industry research lab in safe autonomy, developing a universal safety layer for the next generation of robotic systems: mobile robots, manipulators, mobile manipulators, and future platforms with dynamic stability. You will push the frontiers of performant safety for highly dynamic robots: CBF theory integrated with perception and learning, evaluated on next-generation robots. Your work will underpin robots operating alongside people at Amazon's unprecedented scale.