If there is a collision between the president and Congress, can Congress restrain the president in foreign policy making?

Yes there is .

All Congress need do is assert it's own constitutional mandates from Article 1 of the Constitution .
LII: Constitution
It is Congress that declares war and Congress that funds our foreign policy. At any time they choose to they could defund any initiative they do not agree with. They also have oversight because of the power of the purse and investigative powers. All cabinet level officers ,high government officials ,and ambassadors need to be approved by the Senate (advise and consent ) .

This is a good site to peruse :

Foreign Policy Roles of the President and Congress