Zoox has asked federal regulators for an exemption that would allow the Amazon-owned autonomous vehicle company to commercially deploy its custom-built robotaxis, which lack traditional controls like pedals and a steering wheel.

The exemption request was first reported by Bloomberg. A Zoox spokesperson confirmed that it has submitted a petition for a “555 exemption” and continues to work closely with the National Highway Traffic Safety Administration through this new exemption process. 

An NHTSA spokesperson told TechCrunch that Zoox applied for a temporary exemption from eight Federal Motor Vehicle Safety Standards applicable to its passenger car equipped with an automated driving system. The NHTSA is reviewing Zoox’s application and will publish a notice seeking public comment after the agency conducts its initial review.

The request follows two milestones that put Zoox closer to operating a commercial robotaxi service.

Earlier this month, Zoox launched a free robotaxi service that is open to the public in Las Vegas. And in August, the NHTSA gave Zoox an exemption to demonstrate its custom-built robotaxis on public roads.

While the August exemption cleared up a long-standing debate over whether Zoox’s custom-built autonomous vehicles complied with federal motor vehicle safety standards, it only covered research and demonstrations on public roads. This latest application is separate and would broaden the scope and pave the way for Zoox to launch a commercial robotaxi service.

The NHTSA’s exemption in August was part of the agency’s expanded Automated Vehicle Exemption Program, which allows for demonstration of its vehicles on public roads.