Signal Temporal Logic

Also known as STL

Signal Temporal Logic expresses requirements about how signals should behave over time, such as reaching a region within a deadline or avoiding hazards until a task is complete. Researchers use quantitative robustness scores, differentiable monitors, automata, and mixed-integer or reachability methods to learn specifications and synthesize or verify plans and controllers. Language models and vision systems are also being connected to STL so people can describe tasks in natural language or video and obtain inspectable formal requirements. A central challenge is balancing expressive specifications and reliable guarantees with computational cost, especially for continuous-time behavior, uncertainty, and imperfect translations.

Latest papers

34 papers4 papers in the last four weeks, down 20% on the four weeks before. 0.0% of all new papers.

Beyond Ensemble Disagreement: Predictive STL Monitoring of RL Locomotion under Distribution Shift
Nov 1, 2026Qurban Ali, Badaruddin Chachar, Maqsood Ali +1Safe RL Robotic Policy Evaluation
Sindh Madressatul Islam University, Karachi, Pakistan · Shah Abdul Latif University, Ghotki, Pakistan · University of Camerino, Camerino, Italy +2
SparseMax-dSTL: Sound Robustness with Horizon-Independent Gradient Allocation for Temporal Logic Trajectory Optimization
Oct 16, 2026Sai Sandeep Damera, Ryan Matheu, John S. Baras +1STL Motion Planning Signal Temporal Logic
The authors are with the University of Maryland, College Park, USA.
Class-Conditional Conformal Prediction for Signal Temporal Logic Inference with Many Classes
Oct 9, 2026Yixuan Wang, Danyang Li, Matthew Cleaveland +2Signal Temporal Logic Multivariate Time Series Classification
Mechanical Engineering, University of California, Riverside, CA 92521, USA · Mechanical Engineering, Boston University · MIT Lincoln Laboratory, Lexington, MA 02421, USA
ScanSTL: Parallel Robustness Evaluation for Signal Temporal Logic
Oct 5, 2026Gokhan AlcanSignal Temporal Logic STL Planning
Automation Technology and Mechanical Engineering, Tampere University, 33100 Tampere, Finland
Video2STL: Grounding VLM-Generated Temporal Specifications for Robot Learning
Sep 29, 2026Merve Atasever, Keyan Azbijari, Cagan Bakirci +6VLMs for Robotics Signal Temporal Logic
Department of Computer Science, University of Southern California Los Angeles, CA, USA · University of Florida Gainesville, FL, USA
Feedback Makes Perfect: A Closed-Loop Framework for NL-to-STL Translation
Sep 27, 2026Bowen Ye, Xiang YinSignal Temporal Logic LLM Reliability
Shanghai Jiao Tong University Shanghai, China
Tractable Reinforcement Learning for Full Class of Signal Temporal Logic Specifications Using Spatiotemporal Tube Reward
Sep 23, 2026Vaishnavi Jagabathula, P Sangeerth, Pushpak JagtapRobotic RL Reinforcement Learning
Centre for Cyber-Physical Systems, IISc, Bangalore, India
A Geometric Decision Procedure for STL Feasibility and Repair
Sep 19, 2026Avinash MalikReachability Analysis Signal Temporal Logic
Department of Electrical, Computer, and Software Engineering, University of Auckland, Auckland, New Zealand
Fast Constraint Extraction for Corrective Control under STL Specifications via Logical Dependency Tracking
Sep 8, 2026Antoine Besset, Joris Tillet, Chuchu Fan +1Signal Temporal Logic Robust Control
u2IS, ENSTA, Institut Polytechnique de Paris, France · Univ. Grenoble Alpes, CNRS, Grenoble INP, VERIMAG, France · REALM, AeroAstro, Massachusetts Institute of Technology, Cambridge, USA
Reward Machines for Signal Temporal Logic
Aug 13, 2026Alper Kamil Bozkurt, Shangtong Zhang, Yuichi MotaiReward Machines Reward Design for RL
Department of Computer Science, University of Virginia, Charlottesville, VA, USA
STL-GCS: A Planner-Controller Framework for Signal Temporal Logic via Graphs of Time-varying Convex Sets
Jul 21, 2026Nicola De Carli, Gregorio Marchesini, Dimos V. DimarogonasRobot Trajectory Tracking Constrained Motion Planning
Correct-by-Construction Behavior Tree Synthesis from Signal Temporal Logic Specifications with Application to Robotic Missions
Jul 21, 2026Jiaheng Dong, Jingyi Huang, Liang HanSignal Temporal Logic Robot Task Planning
Sino-French Engineer School,Beihang University, Beijing 100191, China
Learning-enabled Parameter Synthesis for Nonlinear Systems from Signal Temporal Logic
Jul 9, 2026Alex Beaudin, Hanna Krasowski, Eric Palanques-Tost +2Signal Temporal Logic Robust Control
University of California, Berkeley · Boston University · University of Maryland, College Park
Learning Spatiotemporal Tubes for Full Class of Signal Temporal Logic Tasks for Control of Unknown Systems under Input Constraints
Jul 8, 2026Ahan Basu, Ratnangshu Das, Soumyodipta Nath +2Signal Temporal Logic Multi-Agent Control
Centre for Cyber-Physical Systems Indian Institute of Science, Bengaluru, India · Electrical Engineering Department, Eindhoven Institute of Technology, Netherlands
EvoPlan: Evolutionary Neuro-Symbolic Robot Planning with Spatio-Temporal Guarantees
Jul 7, 2026Bhavya Sai Nukapotula, Samin Moosavi, Haoze Wang +4Neuro-Symbolic Reasoning Large Language Model-Based Robot Planning
Texas A&M University · Student at Westwood High School; work done as an intern at Texas A&M University.
An Algebraic Framework for Quantitative Semantics of Spatio-Temporal Logic with Graph Operators
Jun 25, 2026Sheryl Paul, Vidisha Kudalkar, Anand Balakrishnan +3Signal Temporal Logic Multi-Agent Systems
University of Southern California, Los Angeles, CA, USA · University of Texas at Austin, Austin, TX, USA · ETH Zürich, Zürich, Switzerland
Temporal logics and formal synthesis for robot planning and control
Jun 19, 2026Jana Tumova, Joris Verhagen, Matti VahsRobotics Signal Temporal Logic
KTH Royal Institute of Technology
pdSTL: Probabilistic Differentiable Signal Temporal Logic for Stochastic Systems
Jun 17, 2026Bennett Dogbey, Hemanth ManjunathaSignal Temporal Logic Safe Robot Navigation
Dept. of Mechanical and Aerospace Engineering, Oklahoma State University, Stillwater, OK USA
An Operator-Based Approach to STL
May 27, 2026Panagiotis Rousseas, Dimos V. DimarogonasSignal Temporal Logic Formal Verification
Department of Decision and Control Systems, School of Electrical Engineering and Computer Science, Royal Institute of Technology KTH, Sweden.
On the Stability and Realizability of Recurrent Polynomial Surrogate Ternary Logic Gate Networks
May 23, 2026Sai Sandeep Damera, Ryan Matheu, Aniruddh G. Puranic +2Logical Reasoning Signal Temporal Logic
University of Maryland, College Park, USA
Vision-Based Runtime Monitoring under Varying Specifications using Semantic Latent Representations
May 13, 2026Bardh Hoxha, Oliver Schön, Hideki Okamoto +2Signal Temporal Logic Conformal Prediction
Toyota NA R&D · ETH Zürich
Runtime Monitoring of Perception-Based Autonomous Systems via Embedding Temporal Logic
May 12, 2026Parv Kapoor, Abigail Hammer, Ashish Kapoor +2Signal Temporal Logic AI Agent Monitoring
Software and Societal Systems Department Carnegie Mellon University · General Robotics · Aeronautics and Astronautics Department University of Washington
ReasonSTL: Bridging Natural Language and Signal Temporal Logic via Tool-Augmented Process-Rewarded Learning
May 7, 2026Bowen Ye, Zhijian Li, Junyue Huang +2Signal Temporal Logic LLM Tool Use
Shanghai Jiao Tong University · Alibaba Group, Hangzhou, China
Feasibility-aware Hybrid Control for Motion Planning under Signal Temporal Logics
May 5, 2026Panagiotis Rousseas, Dimos V. DimarogonasConstrained Motion Planning Signal Temporal Logic
∗KTH Royal Institute of Technology, School of Electrical Engineering and Computer Science, Division of Decision and Control Systems
Logic of Fuzzy Paths
Apr 27, 2026Kush Grover, Pratham Gupta, Jan KřetínskýTemporal Reasoning Signal Temporal Logic
Fondazione Bruno Kessler · Indian Institute of Science · Masaryk University
Ternary Logic Encodings of Temporal Behavior Trees with Application to Control Synthesis
Apr 13, 2026Ryan Matheu, John S. Baras, Calin BeltaBehavior Trees Signal Temporal Logic
Institute for Systems Research, University of Maryland, College Park, USA.
Stratifying Reinforcement Learning with Signal Temporal Logic
Apr 6, 2026Justin Curry, Alberto SperanzonSignal Temporal Logic Reinforcement Learning
University at Albany, State University of New York, Department of Mathematics and Statistics, 1400 Washington Ave., Albany, NY 12202 USA · Lockheed Martin, Advanced Technology Labs, 1303 Corporate Center Dr, Eagan, MN 55121 USA
Structural-Ambiguity-Aware Translation from Natural Language to Signal Temporal Logic
Mar 30, 2026Kosei Fushimi, Kazunobu Serizawa, Junya Ikemoto +1Semantic Parsing Signal Temporal Logic
The authors are with the Graduate School of Engineering, The University of Osaka, Suita, Japan
LLM-Enabled Low-Altitude UAV Natural Language Navigation via Signal Temporal Logic Specification Translation and Repair
Mar 29, 2026Yuqi Ping, Huahao Ding, Tianhao Liang +6UAV Navigation Robot Navigation
Guangdong Provincial Key Laboratory of Space-Aerial Networking and Intelligent Sensing, Harbin Institute of Technology, Shenzhen, China · Information Systems Technology and Design, Singapore University of Technology and Design, Singapore 487372 · School of Computer Science and Engineering, Central South University, Changsha, China +1
Conformalized Signal Temporal Logic Inference under Covariate Shift
Mar 28, 2026Yixuan Wang, Danyang Li, Matthew Cleaveland +2Signal Temporal Logic Conformal Prediction
Mingyu Cai and Yixuan Wang are with Mechanical Engineering, University of California, Riverside, CA, 92521, USA. · Danyang Li and Roberto Tron are with Mechanical Engineering, Boston University. · Matthew Cleaveland is with MIT Lincoln Laboratory, Lexington, MA, 02421, USA

Nov 1, 2026J/K move · Enter open · S save

Beyond Ensemble Disagreement: Predictive STL Monitoring of RL Locomotion under Distribution Shift

Qurban Ali, Badaruddin Chachar, Maqsood Ali, Sajjad Ali Rajper

Sindh Madressatul Islam University, Karachi, Pakistan · Shah Abdul Latif University, Ghotki, Pakistan · University of Camerino, Camerino, Italy+2

Safe RL Robotic Policy Evaluation Uncertainty Estimation in RL Signal Temporal Logic Robust RL

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RL locomotion policies trained under nominal simulation conditions may encounter distribution shifts that compromise safety. Predictive monitors could anticipate violations, but their world-model forecasts may become unreliable under shift, and ensemble disagreement is not calibrated. We evaluate predictive Signal Temporal Logic (STL) monitoring for frozen Ant-v5 and HalfCheetah-v5 policies using closed-loop world-model rollouts and a three-model ensemble. Across external-force, observation-noise, and mass shifts, predicted robustness ranks HalfCheetah's future STL violations strongly, whereas disagreement does not reliably track observation prediction error or violations. Under severe noise, violations remain common (

64.2\pm24.4\%

K{=}20

across three PPO seeds), yet current-state robustness without prediction comes within

0.03

AUROC of predictive robustness. Penalizing predicted robustness by disagreement does not consistently improve ranking. Ant provides complementary per-specification evidence, but its composite target has no positive violations and its any-violation target is single-class in most evaluated seed-condition slices. Overall, predictive robustness provides useful STL-specific ranking but little demonstrated additional ranking value over the current state; these findings caution against treating ensemble disagreement as a reliable indicator of safety uncertainty.