@article{opalencodingcausalunderstandingof,
  title = {OPAL: Encoding Causal Understanding of Physical Systems for Robot Learning},
  author = {Daniel Tcheurekdjian and Joshua Klasmeier and Tom Cooney and Christopher McCann and Tyler Fenstermaker},
  year = {2025},
  eprint = {2504.06538},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2504.06538v1},
}