Teleoperation systems for mobile robots face significant challenges in achieving seamless coordination across dynamic environments. We present MobiExo, a teleoperation system that unlocks seamless indoor-outdoor mobile manipulation. Our approach tackles two fundamental challenges: robust cross-environment localization and intuitive full-body control. A novel self-adaptive federated filter unifies GPS and SLAM, delivering continuous centimeter-level positioning (4.5±0.8 cm indoor, 6.8±1.2 cm outdoor) and eliminating transition errors. Simultaneously, an integrated hand-foot coordination framework translates the operator’s natural gait and gestures into fluid robot actions, maintaining remarkable millimeter-level end-effector precision (3.5±0.4 mm) during navigation. Extensive field trials validate our design, demonstrating high task success (96.7% indoor, 94.3% outdoor) and a 5.9× efficiency improvement in multi-location tasks over stationary setups. Code is available at: https://github.com/wangjianpeng200/MobiExo.git

Currently, visual single-object tracking methods utilize online template updates to combine temporal information. However, these methods rely on confidence scores to evaluate the reliability of the current template, which may result in a template not being updated for an extended period. Moreover, advanced trackers select bounding boxes based solely on the similarity between the template and the search area, which can lead to tracking drift when encountering deformable or similar targets. To alleviate these limitations, we propose a Spatio Temporal Prompt Tracker (STPTrack), which utilizes the prior information about small changes of object state between successive frames. Different from previous tracking methods that mainly rely on templates and similarity scores, STPTrack transfers the object position and shape information of the previous frame to the current frame as continuous spatio temporal prompt for the first time, and realizes the efficient fusion of spatio temporal information through the prompt encoder and the fusion decoder module. Specifically, it encodes the bounding box coordinates or mask information of the previous frame and the response points of the current frame as prompt features, and then combines prompt tokens with search tokens through the fusion decoder to provide the potential location of the object for the search feature map. Our STPTrack sets a new state-of-the-art performance on six tracking benchmark datasets.

RGBT tracking has been widely used in various fields such as robotics, surveillance processing, and autonomous driving. Existing RGBT trackers fully explore the spatial information between the template and the search region and locate the target based on the appearance matching results. However, these RGBT trackers have very limited exploitation of temporal information, either ignoring temporal information or exploiting it through online sampling and training. The former struggles to cope with the object state changes, while the latter neglects the correlation between spatial and temporal information. To alleviate these limitations, we propose a novel Temporal Adaptive RGBT Tracking framework, named as TATrack. TATrack has a spatio-temporal two-stream structure and captures temporal information by an online updated template, where the two-stream structure refers to the multi-modal feature extraction and cross-modal interaction for the initial template and the online update template respectively. TATrack contributes to comprehensively exploit spatio-temporal information and multi-modal information for target localization. In addition, we design a spatio-temporal interaction (STI) mechanism that bridges two branches and enables cross-modal interaction to span longer time scales. Extensive experiments on three popular RGBT tracking benchmarks show that our method achieves state-of-the-art performance, while running at real-time speed.

Transformer has shown its great strength in visual object tracking due to its effective attention mechanism , but most prevailing transformer-based trackers only explore temporal information frame by frame, thus overlooking the rich context information inherent in videos. To alleviate this problem, we propose a transformer-based tracker via learning immediate appearance change information in videos, called IAC-tracker. The proposed tracker enhances the perception of the immediate motion state to improve the performance of single target tracking . IAC-tracker contains three key components: a spatial information extractor (SIE) with a superior attention mechanism to progressively extract spatial information, a temporal information extractor (TIE) with a designed temporal attention mechanism to progressively learn target immediate appearance change, and a novel spatial–temporal context enhanced fusion module integrating the information from SIE and TIE to prepare for the final prediction head. Comparison experiments with state-of-the-art trackers on six challenging datasets demonstrate the superior performance of IAC-tracker with real-time running speed.