It does in various points of the saga, some examples I can give easily, other are spoilers so I'll ROT13 them.

In the first tome and the prequels, it's Harry Seldon who tries to develop pyschohistory and setup the Foundation, and different "villains" react to that. It's true that afterwards the Foundation is mostly reacting to Seldon Crisis, but those crisis are part of Seldon's Plan (so, of the hero planning ahead awesome things).

In the last tome, Foundation and Earth, it's clearly the heroes who start their own quest of finding back the Earth.

Now the spoiling parts (rot13) :

Va gur cerdhryf vg'f pyrneyl Qnarry jub gevrf gb chfu Fryqba gb qrirybc cflpubuvfgbel, naq Qnarry vf gur erny "ureb" bs gur rkgraqrq Sbhaqngvba-Ebobg plpyr.

Va Sbhaqngvba'f Rqtr, juvyr gur znva ureb vf vaqrrq ernpgvba gb orvat chfurq ol inevbhf punenpgre, vg'f abg ivyynvaf jub ner cynaavat gur jubyr riragf, ohg Tnvn, jub vf n cebqhpg bs Qnarry, fb ntnva, bs gur erny "nepu ureb" bs gur fntn.

There are other similar examples in other parts of the cycle, but less obvious ones.