# From Spot 2.0 to Spot 2.10: What's New?

arXiv: https://arxiv.org/abs/2206.11366 · HTML: https://mlsanity.com/paper/2206.11366/

## Key facts

- Cited by 22 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 20 Jun 2022.

## Built on by (most cited first, 22 of 22)

- [Grounding Complex Natural Language Commands for Temporal Tasks in Unseen Environments](https://mlsanity.com/paper/2302.11649/) (2023)
- [LTL-Constrained Policy Optimization with Cycle Experience Replay](https://mlsanity.com/paper/2404.11578/) (2024)
- [NatSGD: A Dataset with Speech, Gestures, and Demonstrations for Robot Learning in Natural Human-Robot Interaction](https://mlsanity.com/paper/2403.02274/) (2024)
- [Model Checking Strategies from Synthesis Over Finite Traces](https://mlsanity.com/paper/2305.08319/) (2023)
- [NeuroSynt: A Neuro-symbolic Portfolio Solver for Reactive Synthesis](https://mlsanity.com/paper/2401.12131/) (2024)
- [Language Model as Planner and Formalizer under Constraints](https://mlsanity.com/paper/2510.05486/) (2025)
- [Interchangeable Token Embeddings for Extendable Vocabulary and Alpha-Equivalence](https://mlsanity.com/paper/2410.17161/) (2024)
- [Learning Probabilistic Temporal Logic Specifications for Stochastic Systems](https://mlsanity.com/paper/2505.12107/) (2025)
- [Automaton Constrained Q-Learning](https://mlsanity.com/paper/2510.05061/) (2025)
- [On Generating Explanations for Reinforcement Learning Policies: An Empirical Study](https://mlsanity.com/paper/2309.16960/) (2023)
- [Hyper Strategy Logic](https://mlsanity.com/paper/2403.13741/) (2024)
- [Learning to Estimate System Specifications in Linear Temporal Logic using Transformers and Mamba](https://mlsanity.com/paper/2405.20917/) (2024)
- [RNN Generalization to Omega-Regular Languages](https://mlsanity.com/paper/2509.02491/) (2025)
- [LTLf Learning Meets Boolean Set Cover](https://mlsanity.com/paper/2509.24616/) (2025)
- [Names Don't Matter: Symbol-Invariant Transformer for Open-Vocabulary Learning](https://mlsanity.com/paper/2601.23169/) (2026)
- [Warm Starting State-Space Models with Automata Learning](https://mlsanity.com/paper/2603.05694/) (2026)
- [Comp-LTL: Temporal Logic Planning via Zero-Shot Policy Composition](https://mlsanity.com/paper/2408.04215/) (2024)
- [Decentralized Planning Using Probabilistic Hyperproperties](https://mlsanity.com/paper/2502.13621/) (2025)
- [NatSGLD: A Dataset with Speech, Gesture, Logic, and Demonstration for Robot Learning in Natural Human-Robot Interaction](https://mlsanity.com/paper/2502.16718/) (2025)
- [Quantitative Verification of Omega-regular Properties in Probabilistic Programming](https://mlsanity.com/paper/2512.21596/) (2025)
- [Natural Synthesis: Outperforming Reactive Synthesis Tools with Large Reasoning Models](https://mlsanity.com/paper/2605.15131/) (2026)
- [As You Wish: Mission Planning with Formal Verification using LLMs in Precision Agriculture](https://mlsanity.com/paper/2606.18519/) (2026)

## Abstract (arXiv)

Spot is a C ++ 17 library for LTL and ω-automata manipulation, with command-line utilities, and Python bindings. This paper summarizes its evolution over the past six years, since the release of Spot 2.0, which was the first version to support ω-automata with arbitrary acceptance conditions, and the last version presented at a conference. Since then, Spot has been extended with several features such as acceptance transformations, alternating automata, games, LTL synthesis, and more. We also shed some lights on the data-structure used to store automata.