I've read in the documentation that SWF can be used 'on-premise'. Does that mean SWF can be used on a private company server farm or another cloud computing provider?
Using Amazon Simple Workflow SWF on Non-Amazon Servers
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                See https://docs.aws.amazon.com/amazonswf/latest/developerguide/swf-dg-develop-activity.html . It says "Activity workers are managed by you. They can be written in any language. A worker can be run anywhere, as long as it can communicate with Amazon SWF through the API."
Yes and no...yes, you can use SWF to implement a workflow on your on premises hardware (or another provider), but SWF itself still runs on AWS - your applications make calls to SWF, those calls are answered by SWF running on AWS. The work those tasks do however you can run where ever you want.