# MaST: Motion-aware Sparse Pipeline for Lightweight Object Tracking

arXiv: https://arxiv.org/abs/2608.24365 · HTML: https://mlsanity.com/paper/2608.24365/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 43 of its 59 references that are in the map.
- First posted on arXiv 25 Aug 2026.

## Builds on (most cited first, 30 of 43)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Token Merging: Your ViT But Faster](https://mlsanity.com/paper/2210.09461/) (2022)
- [DynamicViT: Efficient Vision Transformers with Dynamic Token Sparsification](https://mlsanity.com/paper/2106.02034/) (2021)
- [Fully-Convolutional Siamese Networks for Object Tracking](https://mlsanity.com/paper/1606.09549/) (2016)
- [GOT-10k: A Large High-Diversity Benchmark for Generic Object Tracking in the Wild](https://mlsanity.com/paper/1810.11981/) (2018)
- [SiamRPN++: Evolution of Siamese Visual Tracking with Very Deep Networks](https://mlsanity.com/paper/1812.11703/) (2018)
- [LaSOT: A High-quality Benchmark for Large-scale Single Object Tracking](https://mlsanity.com/paper/1809.07845/) (2018)
- [Transformer Tracking](https://mlsanity.com/paper/2103.15436/) (2021)
- [Not All Patches are What You Need: Expediting Vision Transformers via Token Reorganizations](https://mlsanity.com/paper/2202.07800/) (2022)
- [Learning Spatio-Temporal Transformer for Visual Tracking](https://mlsanity.com/paper/2103.17154/) (2021)
- [Learning Discriminative Model Prediction for Tracking](https://mlsanity.com/paper/1904.07220/) (2019)
- [TrackingNet: A Large-Scale Dataset and Benchmark for Object Tracking in the Wild](https://mlsanity.com/paper/1803.10794/) (2018)
- [Joint Feature Learning and Relation Modeling for Tracking: A One-Stream Framework](https://mlsanity.com/paper/2203.11991/) (2022)
- [ATOM: Accurate Tracking by Overlap Maximization](https://mlsanity.com/paper/1811.07628/) (2018)
- [MixFormer: End-to-End Tracking with Iterative Mixed Attention](https://mlsanity.com/paper/2203.11082/) (2022)
- [ECO: Efficient Convolution Operators for Tracking](https://mlsanity.com/paper/1611.09224/) (2016)
- [Probabilistic Regression for Visual Tracking](https://mlsanity.com/paper/2003.12565/) (2020)
- [Need for Speed: A Benchmark for Higher Frame Rate Object Tracking](https://mlsanity.com/paper/1703.05884/) (2017)
- [SwinTrack: A Simple and Strong Baseline for Transformer Tracking](https://mlsanity.com/paper/2112.00995/) (2021)
- [Backbone is All Your Need: A Simplified Architecture for Visual Object Tracking](https://mlsanity.com/paper/2203.05328/) (2022)
- [Generalized Relation Modeling for Transformer Tracking](https://mlsanity.com/paper/2303.16580/) (2023)
- [LightTrack: Finding Lightweight Neural Networks for Object Tracking via One-Shot Architecture Search](https://mlsanity.com/paper/2104.14545/) (2021)
- [HiFT: Hierarchical Feature Transformer for Aerial Tracking](https://mlsanity.com/paper/2108.00202/) (2021)
- [Tracking Meets LoRA: Faster Training, Larger Model, Stronger Performance](https://mlsanity.com/paper/2403.05231/) (2024)
- [TCTrack: Temporal Contexts for Aerial Tracking](https://mlsanity.com/paper/2203.01885/) (2022)
- [Dynamic Token Pruning in Plain Vision Transformers for Semantic Segmentation](https://mlsanity.com/paper/2308.01045/) (2023)
- [MixFormerV2: Efficient Fully Transformer Tracking](https://mlsanity.com/paper/2305.15896/) (2023)
- [Exploring Lightweight Hierarchical Vision Transformers for Efficient Visual Tracking](https://mlsanity.com/paper/2308.06904/) (2023)
- [SUTrack: Towards Simple and Unified Single Object Tracking](https://mlsanity.com/paper/2412.19138/) (2024)

## Abstract (arXiv)

Transformer-based object trackers are renowned for their strong performance, yet dense token processing often leads to prohibitive computational cost, limiting real-time deployment on edge devices. While recent works explore token pruning to reduce computation, they often stop short of an end-to-end sparse pipeline, as early-layer token scores can be noisy without a motion prior, and many trackers ultimately fall back to dense reshaping to feed the dense prediction head that partially negates the savings. We introduce Motion-aware Sparse Tracker (MaST), a sparse tracking framework that makes sparsity effective from tokens to boxes. First, MaST injects a lightweight motion prior to refine cross-attention-based importance scores, enabling earlier and more stable token reduction in the search region. Second, we introduce a natively sparse prediction head that operates directly on the retained unstructured tokens with a score-first, regress-once design, eliminating dense padding/reshaping and reducing redundant computation. Extensive experiments on multiple benchmarks demonstrate that MaST establishes new state of the art among lightweight trackers, where MaST-tiny attains 63.8 AUC on LaSOT and 80.1 SUC on TrackingNet, surpassing the prior best AsymTrack-S by +1.0 AUC and +2.2 SUC while running at 152 FPS on Jetson Nano, nearly twice as fast as AsymTrack-S at 88 FPS. Code is available at https://github.com/TsingWei/MaST.