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Amazon today publicly announced 74 recipients from the Amazon Research Awards Fall 2021 call for proposals. The recipients, who represent 51 universities in 17 countries, have access to more than 300 Amazon public datasets, and can utilize AWS AI/ML services and tools.

75 Amazon Research Awards recipients announced

The awardees represent 52 universities in 17 countries. Recipients have access to more than 300 Amazon public datasets, and can utilize AWS AI/ML services and tools.

The Amazon Research Awards is a program that provides unrestricted funds and AWS Promotional Credits to academic researchers investigating research topics across a number of disciplines.

Today, we’re publicly announcing 75 award recipients who represent 52 universities in 17 countries. Each award is intended to support the work of one to two graduate students or postdoctoral students for one year, under the supervision of a faculty member.

Top row, left to right: Aws Albarghouthi, Nada Amin, Clark Barrett, Ivan Beschastnikh, William Bowman, Yinzhi Cao, Trevor Carlson, Marsha Chechik; second row, left to right: Cas Cremers, Derek Dreyer, Marcelo Frias, Sicun Gao, Roberto Giacobazzi, Ronghui Gu, Jean-Baptiste Jeannin, Steve Ko; third row, left to right: James Noble, Rohan Padhye, Pavithra Prabhakar, Francesco Ranzato, Talia Ringer, Camilo Rocha, Andrei Sabelfeld, Ilya Sergey; and bottom row, left to right: Michele Sevegnani, Fu Song, Zhendong Su, Daniel Varro, Yakir Vizel, Thomas Wies, Anton Wijs, and Meng Xu.
Top row, left to right: Aws Albarghouthi, Nada Amin, Clark Barrett, Ivan Beschastnikh, William Bowman, Yinzhi Cao, Trevor Carlson, Marsha Chechik; second row, left to right: Cas Cremers, Derek Dreyer, Marcelo Frias, Sicun Gao, Roberto Giacobazzi, Ronghui Gu, Jean-Baptiste Jeannin, Steve Ko; third row, left to right: James Noble, Rohan Padhye, Pavithra Prabhakar, Francesco Ranzato, Talia Ringer, Camilo Rocha, Andrei Sabelfeld, Ilya Sergey; and bottom row, left to right: Michele Sevegnani, Fu Song, Zhendong Su, Daniel Varro, Yakir Vizel, Thomas Wies, Anton Wijs, and Meng Xu are among the recipients from the Amazon Research Awards Fall 2021 call for proposals under the Automated Reasoning CFP.

This announcement includes awards funded under seven call for proposals during the Fall 2021 cycle: AI for Information Security, Amazon Device Security and Privacy, Amazon Payments, AWS Automated Reasoning, Data for Social Sustainability, Prime Video, and Robotics. Proposals were reviewed for the quality of their scientific content, their creativity, and their potential to impact both the research community and society more generally. Theoretical advances, creative new ideas, and practical applications were all considered.

Top row, left to right: Nora Ayanian, Nicola Bezzo, Luca Carlone, Venanzio Cichella, Jia Deng, Nima Fazeli, Maani Ghaffari-Jadidi; second row, left to right: Grace Gu, Leonidas Guibas, Felix Heide, Ralph Hollis, Robert Katzschmann, Sven Koenig, George Konidaris; third row, left to right: Sergey Levine, Jennifer Lewis, Maja Matarić, Jan Peters, Lerrel Pinto, Robert Platt, Nancy Pollard; and bottom row, left to right: Alessandro Rizzo, Oren Salzman, Roland Siegwart, Pratap Tokekar, James Wang, Shenlong Wang, and Yuke Zhu.
Top row, left to right: Nora Ayanian, Nicola Bezzo, Luca Carlone, Venanzio Cichella, Jia Deng, Nima Fazeli, Maani Ghaffari-Jadidi; second row, left to right: Grace Gu, Leonidas Guibas, Felix Heide, Ralph Hollis, Robert Katzschmann, Sven Koenig, George Konidaris; third row, left to right: Sergey Levine, Jennifer Lewis, Maja Matarić, Jan Peters, Lerrel Pinto, Robert Platt, Nancy Pollard; and bottom row, left to right: Alessandro Rizzo, Oren Salzman, Roland Siegwart, Pratap Tokekar, James Wang, Shenlong Wang, and Yuke Zhu are among the recipients from the Amazon Research Awards Fall 2021 call for proposals under the Robotics CFP.

Recipients have access to more than 300 Amazon public datasets and can utilize AWS AI/ML services and tools through their AWS Promotional Credits. Recipients also are assigned an Amazon research contact who offers consultation and advice, along with opportunities to participate in Amazon events and training sessions.

Additionally, Amazon encourages the publication of research results, presentations of research at Amazon offices worldwide, and the release of related code under open-source licenses.

Top row, left to right:NAMES; second row, left to right:NAMES are among the recipients from the Amazon Research Awards Winter 2022 call for proposals under the Alexa: Fairness in AI CFP.
Top row, left to right:NAMES; second row, left to right:NAMES are among the recipients from the Amazon Research Awards Winter 2022 call for proposals under the Alexa: Fairness in AI CFP.

"Research in automated reasoning is deeply intertwined with a broad range of other research areas, touching machine learning, hardware and software engineering, robotics, and life sciences," said Daniel Kroening, an Automated Reasoning Group senior principal scientist. "The 2021 Amazon Research Awards reflect this breadth, and the interdisciplinary nature of research that is necessary to take computing one step closer to that magic spark that drives human reasoning."

ARA funds proposals up to four times a year in a variety of research areas. Applicants are encouraged to visit the ARA call for proposals page for more information or send an email to be notified of future open calls.

The table below lists, in alphabetical order, Fall 2021 cycle call-for-proposal recipients.

Recipient

University

Research title

Aws Albarghouthi

University of Wisconsin-Madison

Teaching SMT Solvers Probability Theory

Nada Amin

Harvard University

Extensible Models and Proofs

Nora Ayanian

Brown University

Large-Scale Labeled Multi-Agent Pathfinding for Warehouses

Clark Barrett

Stanford University

HydraScale: Solving SMT Queries in the Serverless Cloud

Ivan Beschastnikh

University of British Columbia

Compiling Distributed System Models into Implementations

Nicola Bezzo

University of Virginia

Towards Safe and Agile Robot Navigation in Occluding and Dynamic Environments

William Bowman

University of British Columbia

Static reasoning for memory in compilers and intermediate languages

Yinzhi Cao

Johns Hopkins University

Automatic Static Resource Analysis for Serverless Computing

Luca Carlone

Massachusetts Institute of Technology

Real-time Spatial AI for Robotics

Trevor Carlson

National University of Singapore

Accelerating SAT Solving with a Flexible FPGA-Programming Platform

Marsha Chechik

University Of Toronto

Unsatisfiability Proofs for Monotonic Theories

Venanzio Cichella

University Of Iowa

Concurrent allocation and planning for large-scale multi-robot systems

Cas Cremers

CISPA Helmholtz Center for Information Security

KeyLife: Automated Formal Analysis for Key Lifecycles in Security Protocols with Policies, Delegation, and Compromise

Elizabeth Croft

Monash University

Help me!: Humans supporting robots through Augmented Reality

Jia Deng

Princeton University

Optimization-Inspired Neural Networks for Visual SLAM

Derek Dreyer

MPI - SWS

RefinedRust: Automating the Verification of Rust Programs in the Presence of Unsafe Code

Tudor Dumitras

University of Maryland, College Park

Mitigating the impact of behavior variability and label noise on ML-based malware detectors

Nima Fazeli

University of Michigan

Object Manipulation with High-Resolution Tactile Sensors

Earlence Fernandes

University of Wisconsin-Madison

Verifiable Distributed Computation

Marcelo Frias

Buenos Aires Institute of Technology

Modular Bounded Verification with Expressive Contracts

Sicun Gao

University of California, San Diego

Interior Search Methods in SMT

Maani Ghaffari-Jadidi

University of Michigan

Robust low-cost dead reckoning and localization for home robotics using invariant state estimation

Roberto Giacobazzi

University of Verona

Implicit program analysis

Ronghui Gu

Columbia University

Learning Inductive Invariants for Real Distributed Protocols

Grace Gu

University of California, Berkeley

Deep learning-enabled robust grasping for pneumatic actuators

Leonidas Guibas

Stanford University

GeneralPurpose 3D Perception of Object Functionality

Arie Gurfinkel

University of Waterloo

Formal Proofs for Trusted Execution Environments

Hamed Haddadi

Imperial College London

Auditable Model Privacy using TEEs

Felix Heide

Princeton University

Inverse Neural Rendering

Ralph Hollis

Carnegie Mellon University

Low Cost Dynamic Mobile Robots for Research and Teaching

Hongxin Hu

SUNY, Buffalo

Explaining Learning-based Intrusion Detection Systems for Active Intrusion Responses

Jean-Baptiste Jeannin

University of Michigan-Ann Arbor

Automatic Verification of Distributed Systems Implementations

Robert Katzschmann

ETH Zurich

Design and Control Optimization of Soft Gripper Mechanisms for Manipulation

Anirudh Sivaraman Kaushalram

New York University

Observing and controlling microservice deployments

Steve Ko

Simon Fraser University

Practical Symbolic Execution for Rust

Sven Koenig

University of Southern California

Hybrid Search- and Traffic-Based MAPF Systems for Fulfillment Centers

George Konidaris

Brown University

Learning Composable Manipulation Skills

Emmanuel Letouzé

Pompeu Fabra University

Leveraging Digital Data for Monitoring Human Rights and Social Dynamics Along and Around Value Chains

Sergey Levine

University of California, Berkeley

Robotic Learning with Reusable Data

Jennifer Lewis

Harvard University

Computational Co-Design of Dexterous Rigid-Soft Grippers With Intrinsic Tactile-Sensing-Based Control

Maja Matarić

University of Southern California

Learning User Preferences for In-Home Robots Through In Situ Augmented Reality

James Noble

Victoria University Of Wellington

“Programming Made Hard” Made Easier: Improving Dafny’s Human Factors

Rohan Padhye

Carnegie Mellon University

Coverage-Guided Property-Based Testing of Concurrent Programs

Jan Peters

TU Darmstadt

Learning Robot Manipulation from Tactile Feedback

Lerrel Pinto

New York University

Visual Imitation in the Wild through Decoupled Representation Learning

Robert Platt

Northeastern University

On-robot manipulation learning via equivariant models

Nancy Pollard

Carnegie Mellon

Contact Areas for Manipulation Capture, Retargeting, and Hand Design

Pavithra Prabhakar

Kansas State University

Conformance Checking of Evolving ML Software Systems

Francesco Ranzato

University of Verona

Implicit program analysis

Sanjay Rao

Purdue University

Answering counterfactuals from offline data for video streaming

Bruno Ribeiro

Purdue University

Answering counterfactuals from offline data for video streaming

Talia Ringer

University of Illinois Urbana-Champaign

Neurosymbolic Proof Synthesis & Repair

Alessandro Rizzo

Politecnico di Torino

Physics-Informed Machine Learning for Trustworthy Control of Autonomous Robots

Camilo Rocha

Pontificia Universidad Javeriana Cali

Probabilistic and Symbolic Tools for P Program Verification

Andrei Sabelfeld

Chalmers University of Technology

DeepCrawl: Automated Reasoning for Deep Web Crawling

Oren Salzman

Technion - Israel Institute of Technology

Increasing throughput in automated warehouses via environment manipulation

Ilya Sergey

National University of Singapore

Scaling Automated Verification of Distributed Protocols with Specification Transformation and Synthesis

Michele Sevegnani

University of Glasgow

From Whiteboards to Models: Diagrammatic Formal Modelling for Everyone

Roland Siegwart

ETH Zurich

Autonomous Navigation of Aerial Robotic Manipulators in Unstructured Indoor and Outdoor Environments

Ramesh Sitaraman

University of Massachusetts Amherst

Design and Evaluation of ABR Algorithms for High-Performance Video Delivery

Fu Song

ShanghaiTech University

Efficient and Precise Verification for Constant-Time and Time-Balancing of Cryptosystems

Zhendong Su

ETH Zurich

Practical Techniques for Reliable, Robust and Performant SMT Solvers

Jiliang Tang

Michigan State University

Taming Graph Anomaly Detection via Graph Neural Networks

Pratap Tokekar

University of Maryland, College Park

Multi-Robot Coordination through the Lens of Risk

Daniel Varro

McGill University

Graph Solver as a Service

Yakir Vizel

Technion - Israel Institute of Technology

Quantified Invariants

David Wagner

University of California, Berkeley

Machine Learning for Malware Detection: Robustness against Concept Drift

James Wang

Pennsylvania State University

Affective and Social Interaction between Human and Intelligent Machine in Daily Activities

Shenlong Wang

University of Illinois Urbana-Champaign

Safely Test Autonomous Vehicles with Augmented Reality

Thomas Wies

New York University

A Modular Library of Verified Concurrent Search Structure Algorithms

Anton Wijs

Eindhoven University of Technology

Many-Core Acceleration of State Space Construction and Analysis

Xinyu Xing

Northwestern University

Battling Noisy-label Classification

Meng Xu

University Of Waterloo

Finding Specification Blind Spots with Fuzz Testing

Yuke Zhu

University of Texas at Austin

Interactive Learning Framework for Building Structured Object Models from Play

Andrew Zisserman

University of Oxford

Audio-Visual Synchronisation for General Videos

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Trusted by more startups around the world, AWS makes the power of cloud computing accessible for all by giving founders everywhere access to the same technology that powers the world's largest companies. With nearly two decades of experience supporting hundreds of thousands of startups, including 80% of unicorns, we democratize cloud computing to help founders bring their innovative ideas to life. We support founders at every stage of their journey, from initial onboarding and credit programs to AI-powered guidance and scale solutions. Data is central to how we do this: it helps us identify high-potential startups early, personalize the guidance we deliver, and prioritize where we can create the most value for founders and for AWS. We are seeking an Applied Science Manager to lead a team of applied scientists and analysts building the data and machine learning capabilities behind AWS Startups. You will own the science roadmap end-to-end, from the data foundation that unifies signals about founders, startups, and their products, through a portfolio of machine learning models, to the surfaces that put insights in the hands of the teams and products that serve startups. You will balance hands-on technical leadership with people management, setting the technical bar for your team while developing their careers. Key job responsibilities · Lead, coach, and grow a team of applied scientists, business intelligence engineers, and business analysts; hire and develop talent and set a high technical bar. · Own and prioritize the team's science roadmap and set technical direction for its machine learning models and data assets, balancing rapid experimentation with production quality, cost, and reliability. · Scope scientific projects, design and evaluate experiments, and productionize models that deliver measurable impact, establishing measurement, evaluation, and operational-excellence standards so quality and impact are quantified and defensible. · Drive the science behind recommendation systems, startup segmentation and targeting, and fraud detection, delivering models that surface relevant opportunities, group and prioritize startups by need and fit, and protect the business from fraud and abuse. · Partner with product, engineering, design, and go-to-market teams to translate science into scalable products, and communicate strategy, results, and trade-offs clearly to technical and non-technical leaders. · Foster a culture of scientific rigor and rapid experimentation, and proactively identify and escalate risks with clear mitigation plans. About the team The AWS Startups team builds innovative products and platforms that support startup customers throughout their journey, from initial onboarding and credit programs to AI-powered guidance and scale solutions. Our portfolio serves hundreds of thousands of startup customers globally, and we partner with business development, field marketing, and solutions architecture teams worldwide. We are building the next generation of AI-native products that make world-class cloud expertise accessible to every founder.
IN, KA, Bengaluru
Amazon Ads is a multi-billion dollar global business that delivers advertising experiences across Amazon's owned-and-operated properties (including Prime Video, Twitch, Fire TV, and Amazon.com), third-party publisher networks, and emerging channels like generative AI-powered shopping experiences. As one of the fastest-growing segments of Amazon, we operate at unprecedented scale across desktop, mobile, connected TV, and emerging surfaces. Within Amazon Ads, Traffic Quality is a critical pillar of advertiser trust and marketplace integrity. Our mission is to build advanced capabilities that work at petabyte scale to detect sophisticated invalid traffic (IVT) which includes sophisticated non-human traffic, bot networks, and fraudulent engagement patterns across programmatic advertising. We are on a journey to establish Amazon Ads as an industry leader in traffic quality standards and transparency. Our research agenda focuses on staying ahead of adversarial actors through continuous innovation in detection methodologies, leveraging state-of-the-art techniques in deep learning and generative modeling, user behavior and multi-modal representation learning, anomaly detection, time-series analysis, and sparse labeling methods. We process billions of ad events daily, developing novel algorithms that balance precision and recall while operating under strict latency constraints. Our work directly protects hundreds of millions of dollars in advertiser spend annually while maintaining a seamless user experience. Key job responsibilities As a Data Scientist II in Traffic Quality, you will solve inherently hard problems in advertising fraud detection by applying advanced statistical techniques and machine learning. You'll work on systems that process billions of ad impressions and clicks per day, using Amazon's cloud services including EC2, S3, EMR, Sagemaker, and RedShift. - Define and frame new research problems in fraud detection where neither problem nor solution is well-defined. - Apply new machine learning approaches, models, and algorithms to detect sophisticated invalid traffic. - Apply domain knowledge to perform broad data analysis as a precursor to modeling and build business insights. - Work with unstructured and massive datasets to deliver results. - Produce research reports meeting top-tier external publication standards. - Mentor and develop junior scientists on the team. About the team Here are a few papers published by the team: 1/ [Scaling Generative Pre-training for User Ad Activity Sequences. AdKDD 2023.](https://assets.amazon.science/b7/42/03be071743d5a57cb1656e6caa34/scaling-generative-pre-training-for-user-ad-activity-sequences.pdf) 2/ [SLIDR: Real-time Robot Detection On Online Ads, IAAI 2023, Deployed Highly Innovative Applications of AI Track (AAAI 2023)](https://assets.amazon.science/75/2f/3b7106b143f38f7f4d2806388ace/real-time-detection-of-robotic-traffic-in-online-advertising.pdf) 3/ [Self-supervised Representation Learning Across Sequential and Tabular Features Using Transformers, NeurIPS 2022, First Table Representation Learning Workshop](https://openreview.net/forum?id=wIIJlmr1Dsk)
US, CA, Sunnyvale
We are seeking an Applied Scientist to focus on Robot Navigation. In this role, you'll research and develop advanced navigation systems that enable robots to move reliably and safely through complex, dynamic environments. You'll work across a broad spectrum of navigation approaches—from classical methods to learning-based techniques and foundation models—to build robust solutions for autonomous robot navigation. Key job responsibilities - Develop and implement robust navigation systems that enable reliable autonomous operation in complex, dynamic indoor environments with static and dynamic obstacles - Build simulation-based and on-device evaluation frameworks with comprehensive benchmarks and metrics for systematic comparison of navigation methods - Conduct sim-to-real transfer experiments, analyzing performance gaps and developing techniques to ensure reliable real-world navigation performance - Collaborate with world model, manipulation, and other teams to ensure seamless integration of navigation capabilities into the full robot system - Stay current with the latest advances in robot navigation, spatial reasoning, and related fields, and apply relevant findings to improve system performance - Mentor fellow scientists and engineers while maintaining strong individual technical contributions About the team Fauna Robotics, an Amazon company, is building capable, safe, and genuinely delightful robots for everyday life. Our goal is simple: make robots people actually want to live and interact with in everyday human spaces. We believe that future won’t arrive until building for robotics becomes far more accessible. Today, too much effort is spent reinventing the fundamentals. We’re changing that by developing tightly integrated hardware and software systems that make it faster, safer, and more intuitive to create real-world robotic products.
US, WA, Seattle
Pricing is one of the most consequential decisions Amazon makes — and the science behind it needs to be causally rigorous, not just predictive. The P2 Optimization Science (P2OS) team builds the machine learning systems that power Amazon's pricing decisions at scale: demand lift models, customer lifetime value frameworks, and the experimentation infrastructure that validates whether our pricing changes actually work. We're hiring an Applied Scientist to own causal inference at the intersection of ML and pricing experimentation. This role exists because our team has identified a real gap: the methodological bridge between econometric analysis (owned by our economists) and production-scale ML pipelines (owned by our engineers) needs a practitioner who lives in both worlds. You'll build CATE estimation models, design analysis workflows for pricing weblabs, and develop the reusable causal ML infrastructure that the broader team — including non-ML scientists — can rely on. This is not a research role. The bias here is toward shipping production-quality causal pipelines with real downstream business impact. You'll measure success by what changes in LTV estimates, what pricing errors your models help avoid, and whether the economists on your team can actually use what you build. If you're a scientist who wants to work on hard causal identification problems in a high-stakes production environment — and who finds satisfaction in making rigorous methods accessible to a broader team — this role is for you. Key job responsibilities * Build causal ML pipelines for pricing — Design, train, evaluate, and deploy end-to-end causal estimation models for pricing use cases. * Own the science on heterogeneous treatment effects — Be the team SME on causal ML methodology: identification strategies, model selection, evaluation standards, and the tradeoffs between econometric and ML approaches to causal estimation. * Support pricing experiment analysis — Contribute causal analysis methodology to pricing weblab and A/B test post-analysis; build reusable tooling that economists can use without requiring ML expertise * Connect model outputs to business outcomes — Define, before writing code, what business metric each model moves; deliver model evaluation reports framed around pricing errors avoided and LTV estimate changes. * Evaluate and adopt novel techniques — Assess applicability of emerging causal inference methods (synthetic DiD, generalized random forests, causal representation learning) to Amazon's pricing context; write internal methodology proposals for adoption * Write internal documentation and methodology papers — Produce at least one internal write-up per half that connects a causal ML technique to a concrete pricing use case; make pipelines extensible and well-documented so other scientists can build on them. * Collaborate across disciplines — Partner closely with the Sr. Economist on identification strategy and causal assumptions; work with SDE and DE partners on production deployment; align with PMs on experiment design requirements A day in the life As an Applied Scientist on the P2OS team, your work directly shapes the prices customers see on hundreds of millions of Amazon products. In a given workweek, you might: * Investigate an optimization anomaly in simulation and trace it back to a model input gap or an unmodeled market dynamic * Design an offline evaluation framework to benchmark competing optimization approaches before committing to online testing * Collaborate with Sr. Economists on the identification strategy for the model you're building for a pricing lab * Present a science proposal for incorporating a new competitiveness or inventory signal into an optimization system * Work cross-team with the experimentation platform team on randomization design. * Develop and write up a novel scientific finding — preparing a paper or technical report for submission to a top-tier venue such as KDD, NeurIPS, or the ACM Conference on Economics and Computation
IN, KA, Bengaluru
The Ads Trust Science team, based in Bangalore, is responsible for ensuring that ads are relevant and is of good quality, leading to higher conversion for the sellers and providing a great experience for the customers. We deal with one of the world’s largest product catalog, handle billions of requests a day with plans to grow it by order of magnitude and use automated systems to validate tens of millions of offers submitted by thousands of merchants in multiple countries and languages. In this role, you will build and develop ML models to address content understanding problems in Ads. These models will rely on a variety of visual and textual features requiring expertise in both domains. These models need to scale to multiple languages and countries. You will collaborate with engineers and other scientists to build, train and deploy these models. As part of these activities, you will develop production level code that enables moderation of millions of ads submitted each day.
PL, Gdansk
Have you ever wondered how we give voice to devices — even when they're offline? The Text-to-Speech on Device team at Amazon builds AI-powered voice models that run locally on hardware with limited resources, serving customers across Alexa, automotive, and accessibility experiences for visually impaired users. We sit at the intersection of speech generation, generative AI, and on-device machine learning, and we're looking for a curious, collaborative Applied Scientist to help us push what's possible. In this role, you will research and develop production-ready speech generation models optimized for constrained environments. You will work across the full model lifecycle — from early experimentation and prototyping through to integration on real devices. If you're excited about solving hard scientific problems that directly improve how millions of people interact with technology, we'd love to hear from you. Key job responsibilities - Design and develop end-to-end machine learning models for on-device speech generation, from early research and experimentation through production-ready deployment. - Research and apply advanced techniques in generative AI, model compression, and knowledge distillation to deliver high-quality voice models within tight hardware constraints. - Propose and validate novel scientific approaches by authoring detailed technical specifications and contributing to peer-reviewed publications when appropriate. - Evaluate model performance rigorously, identify improvement opportunities, and iterate on training and inference pipelines to optimize quality and efficiency. - Collaborate with science and engineering teams across cloud and device platforms to bring speech generation capabilities from research prototypes to integrated product experiences. About the team The Text-to-Speech on Device team builds low-footprint AI models for speech generation that run locally on devices such as Android and FireOS platforms. Our models require significantly less computation than cloud-hosted alternatives, enabling offline voice experiences for Alexa, automotive partners, and accessibility solutions. We work closely with device engineering teams and cloud-based speech science teams to deliver the best possible experience for our customers. Our focus in the coming years is expanding the range of voices and languages we support while continuing to improve naturalness and efficiency on constrained hardware.