Orthodox and Catholics believe in infusion of righteousness. Protestants believe righteousness is imputed. Arminius suggestion that righteousness is infused is not Protestant doctrine.
I am not sure what imputation and infusion is, but I can tell you it is not something we often talk about. :-)
God wanted man to make choices. That much is clear. He created man in His own image and gave him the power to choose freely. Genesis reveals that God asked Adam to name every animal. God foreknew his choices, but He did not make them for him. God planted the tree of knowledge in the Garden of Eden, so that Adam and Eve could choose. In that respect, God choreographed what was to unfold in Paradise, but He did not make Adam and Eve eat from the forbidden tree.
Even after they ate of the forbidden fruit, God asked them why did they eat of the forbidden fruit, giving Adam and Eve a chance to repent. Their refusal to repent sealed their fate.
Thus, we see two very different events: one that is rather unimportant to man (naming of the all the animals), and the other (the Fall) that is cataclysmic to humanity. Both are products of our free will. To say that God does not want us to make decisions freely about our own fate (i.e. whether it is our own demise or our salvation) in cooperation with God is therefore clearly wrong.