@article{forediffusionforesightconditioneddiffusi,
  title = {ForeDiffusion: Foresight-Conditioned Diffusion Policy via Future View Construction for Robot Manipulation},
  author = {Weize Xie and Yi Ding and Ying He and Leilei Wang and Binwen Bai and Zheyi Zhao and Chenyang Wang and F. Richard Yu},
  year = {2026},
  eprint = {2601.12925},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2601.12925},
}