Research Scientist, Safety-Critical Control, Robotics, SAF Lab

## Responsibilities - Develop and implement novel CBF algorithms that provide formal safety guarantees while minimizing conservatism to maximize the permissible operating envelope for highly dynamic robots - Frame safety filtering within complex layered architectures involving learning-based components, including VLAs, RL-based locomotion and whole-body controllers - Design multi-layer CBF based safety filters, including decision making layers, MPC, and real-time nonlinear feedback control elements - Formalize the interplay between models used in the CBF safety filter and the full order dynamics of the robotic systems, establishing formal guarantees even if the full order system dynamics is not known and contains learning-based elements - Understand the role of perception and semantic representations in the synthesis of CBFs, and the interplay between CBFs - Characterize the trade-offs between optimal safety and robustness to sensor noise, perception error, actuator and sensor failure - Address the theory-to-practice gap by developing CBF methods that are robust to model uncertainty, sensor noise, actuation delays, and computational latency - Implement real-time optimization solvers (e.g., QP-based safety filters) that execute within the tight timing budgets of safety-critical control loops - Validate algorithms through rigorous simulation and hardware experiments, characterizing failure modes and quantifying safety margins - Contribute to the theoretical foundations of CBFs through publications at top-tier controls and robotics venues - Collaborate with perception, planning, locomotion, and manipulation teams to ensure CBF formulations accommodate the needs of upstream and downstream systems - Collaborate with product teams and science leaders to set a science roadmap (with eventual impact on real robots) ## Requirements - PhD in engineering, technology, computer science, machine learning, robotics, operations research, statistics, mathematics or equivalent quantitative field - Deep expertise in Control Barrier Functions, including theoretical foundations and practical implementation - Experience formulating and solving optimization-based controllers (QPs, SOCPs) for real-time safety filtering - Strong mathematical background in dynamical systems theory, nonlinear control, and formal verification or reachability analysis - Proficiency in C++ and Python with experience implementing control algorithms for real-time systems - Experience validating safety-critical algorithms on physical robotic hardware (not simulation-only) - Publication record at relevant venues (e.g., CDC, ACC, L-CSS, ICRA, RSS, RAL, Automatica, TAC, TRO) ## Nice to Have - Understanding of control systems engineering, with a specific focus on layered architecture used in robotic systems (high level planning, mid-level trajectory generation and low-level feedback control) - Familiarity with Hamilton-Jacobi reachability analysis and its relationship to CBF-based approaches - Experience with robust or adaptive CBF methods that account for parametric uncertainty or unmodeled dynamics - Experience with sum-of-squares (SOS) programming, Lyapunov function synthesis, or other computational tools for verifying set invariance - Familiarity with real-time embedded systems and the constraints of deploying optimization-based controllers on safety-rated hardware - Experience applying CBFs to multi-agent systems or high-dimensional robotic platforms (manipulators, legged robots) - Exposure to learning-based approaches for CBF synthesis (e.g., neural CBFs, data-driven barrier functions) and the integration of CBFs into learning ## Benefits 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!