MaST: Motion-aware Sparse Pipeline for Lightweight Object Tracking

Abstract

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.

ECCV 2026 accepted paper