# RTAMT -- Runtime Robustness Monitors with Application to CPS and Robotics

arXiv: https://arxiv.org/abs/2501.18608 · HTML: https://mlsanity.com/paper/2501.18608/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 22 Jan 2025.

## Built on by (most cited first, 4 of 4)

- [Interpretable Early Failure Detection via Machine Learning and Trace Checking-based Monitoring](https://mlsanity.com/paper/2508.17786/) (2025)
- [Falsification-driven reinforcement learning for maritime motion planning](https://mlsanity.com/paper/2510.06970/) (2025)
- [Vision-Based Runtime Monitoring under Varying Specifications using Semantic Latent Representations](https://mlsanity.com/paper/2605.13923/) (2026)
- [Reward Machines for Signal Temporal Logic](https://mlsanity.com/paper/2608.13625/) (2026)

## Abstract (arXiv)

In this paper, we present Real-Time Analog Monitoring Tool (RTAMT), a tool for quantitative monitoring of Signal Temporal Logic (STL) specifications. The library implements a flexible architecture that supports: (1) various environments connected by an Application Programming Interface (API) in Python, (2) various flavors of temporal logic specification and robustness notion such as STL, including an interface-aware variant that distinguishes between input and output variables, and (3) discrete-time and dense-time interpretation of STL with generation of online and offline monitors. We specifically focus on robotics and Cyber-Physical Systems (CPSs) applications, showing how to integrate RTAMT with (1) the Robot Operating System (ROS) and (2) MATLAB/Simulink environments. We evaluate the tool by demonstrating several use scenarios involving service robotic and avionic applications.