The invention discloses an implementation method of telepresence and telepresence devices. The implementation method comprises: a first telepresence device establishes a communication connection with a second telepresence device, wherein during the communication connection establishing process, the first telepresence device carries out a first capacity negotiation with the second telepresence device; the first telepresence device carries out a TIP capacity negotiation with the second telepresence device; the first telepresence device and the second telepresence device determine an audio/video encoding/decoding mode to be used in the follow-up communication process based on the results of the first capacity negotiation and the results of the TIP capacity negotiation; and the first telepresence device carries out communication with the second telepresence device based on the determined audio/video encoding/decoding mode. The technical problem that in the prior art, since the content of a TIP protocol fail to update timely, the content of the TIP protocol cannot be used when a new audio/video encoding/decoding mode appears is solved, thereby achieving the technical effect of improving the expansion capability of the telepresence.