# RTAMT: Online Robustness Monitors from STL

arXiv: https://arxiv.org/abs/2005.11827 · HTML: https://mlsanity.com/paper/2005.11827/

## Key facts

- Cited by 19 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 24 May 2020.

## Built on by (most cited first, 19 of 19)

- [Hierarchical Potential-based Reward Shaping from Task Specifications](https://mlsanity.com/paper/2110.02792/) (2021)
- [Follow The Rules: Online Signal Temporal Logic Tree Search for Guided Imitation Learning in Stochastic Domains](https://mlsanity.com/paper/2209.13737/) (2022)
- [Part-X: A Family of Stochastic Algorithms for Search-Based Test Generation with Probabilistic Guarantees](https://mlsanity.com/paper/2110.10729/) (2021)
- [STL-Based Synthesis of Feedback Controllers Using Reinforcement Learning](https://mlsanity.com/paper/2212.01022/) (2022)
- [Learning Performance Graphs from Demonstrations via Task-Based Evaluations](https://mlsanity.com/paper/2204.05909/) (2022)
- [Falsification of Multiple Requirements for Cyber-Physical Systems Using Online Generative Adversarial Networks and Multi-Armed Bandits](https://mlsanity.com/paper/2205.11057/) (2022)
- [Learning-Based Approaches to Predictive Monitoring with Conformal Statistical Guarantees](https://mlsanity.com/paper/2312.01959/) (2023)
- [Runtime Monitoring DNN-Based Perception](https://mlsanity.com/paper/2310.03999/) (2023)
- [Signal Temporal Logic-Guided Apprenticeship Learning](https://mlsanity.com/paper/2311.05084/) (2023)
- [ROSMonitoring 2.0: Extending ROS Runtime Verification to Services and Ordered Topics](https://mlsanity.com/paper/2411.14367/) (2024)
- [Predictive Traffic Rule Compliance using Reinforcement Learning](https://mlsanity.com/paper/2503.22925/) (2025)
- [Safe Policy Improvement in Constrained Markov Decision Processes](https://mlsanity.com/paper/2210.11259/) (2022)
- [Natural Adversaries: Fuzzing Autonomous Vehicles with Realistic Roadside Object Placements](https://mlsanity.com/paper/2409.10562/) (2024)
- [Interpretable Early Failure Detection via Machine Learning and Trace Checking-based Monitoring](https://mlsanity.com/paper/2508.17786/) (2025)
- [TOGGLE: Temporal Logic-Guided Large Language Model Compression for Edge](https://mlsanity.com/paper/2512.16855/) (2025)
- [Results of the 2024 CommonRoad Motion Planning Competition for Autonomous Vehicles](https://mlsanity.com/paper/2512.19564/) (2025)
- [Validating Generalist Robots with Situation Calculus and STL Falsification](https://mlsanity.com/paper/2601.03038/) (2026)
- [ROMAN: Reward-Orchestrated Multi-Head Attention Network for Autonomous Driving System Testing](https://mlsanity.com/paper/2602.05629/) (2026)
- [Logic-VLA: A Temporal Logic Conditioned Vision-Language-Action Model](https://mlsanity.com/paper/2608.20556/) (2026)

## Abstract (arXiv)

We present RTAMT, an online monitoring library for Signal Temporal Logic (STL) and its interface-aware variant (IA-STL), providing both discrete- and dense-time interpretation of the logic. We also introduce RTAMT4ROS, a tool that integrates RTAMT with Robotic Operating System (ROS), a common environment for developing robotic applications. We evaluate RTAMT and RTAMT4ROS on two robotic case studies.