He envisages the possibility of establishing direct diplomatic relations in the future. [VERB noun]

他设想在未来可以建立直接的外交关系。

He had never envisaged spending the whole of his working life in that particular job. [VERB verb-ing]

他从没有想象过自己整个职业生涯都要从事那个工作。

Personally, I envisage them staying together. [VERB noun verb-ing]

就我看来，我估计他们会呆在一起。