My approach is simply to seek out very talented people, ensure that the environment at SpaceX is as motivating & enjoyable as possible and establish clear & measurable objectives.
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There need to be things that inspire you, that make you glad to wake up in the morning and be part of humanity.
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People are motivated by regularly achieving challenging goals.
OKRs (Objectives and key results) are important for driving alignment around the few objectives that matter most. Using objectives helps to shift an employee from a task-oriented to a results-oriented focus.
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