# BiLift

RGB-X tracking pairs visible frames with thermal, depth or event data, but paired annotations are far scarcer than RGB pretraining data, so only a small set of parameters is usually tuned. Earlier bidirectional cross-modal corrections computed both directions side by side from uncorrected input states, so the second correction could not use the first one's result. CCLT inserts low-rank exchange modules at blocks 6 and 10 of a frozen backbone, letting one direction correct first and the other read the freshly corrected state; against a parameter-matched parallel version, mean LasHeR SR rises by 1.980 points (95% interval [0.360, 2.690]), with 196.6K trainable parameters, 0.212% of the 92.7M-parameter tracker.

RGB-X tracking pairs visible frames with thermal, depth or event data, but paired annotations are far scarcer than RGB pretraining data, so only a small set of parameters is usually tuned. Earlier bidirectional cross-modal corrections computed both directions side by side from uncorrected input states, so the second correction could not use the first one's result. CCLT inserts low-rank exchange modules at blocks 6 and 10 of a frozen backbone, letting one direction correct first and the other read the freshly corrected state; against a parameter-matched parallel version, mean LasHeR SR rises by 1.980 points (95% interval [0.360, 2.690]), with 196.6K trainable parameters, 0.212% of the 92.7M-parameter tracker.