@article{learningforesightwithoutexplicittrajecto,
  title = {Learning Foresight without Explicit Trajectories for 3D Diffusion Policies},
  author = {Zhongbo Zhang and Zaibin Zhang and Yifan Wang and Changbo Yan and Lijun Wang and Huchuan Lu},
  year = {2026},
  eprint = {2609.20669},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2609.20669},
}