Seven of the nine known Mars Trojan asteroids belong to an orbital cluster 1,2 named after its largest member 5261 Eureka. Eureka is likely the progenitor of the whole cluster, which formed at least 1 Gyr ago 3 . It was suggested 3 that the thermal YORP effect spun-up Eureka resulting with fragments being ejected by the rotationalfission mechanism. Eureka's spectrum exhibits a broad and deep absorption band around 1 µm, indicating an olivine-rich composition 4 . Here we show evidence that the Trojan Eureka cluster progenitor could have originated as impact debris excavated from the Martian mantle. We present new near-infrared observations of two Trojans (311999 2007 NS 2 and 385250 2001 DH 47 ) and find that both exhibit an olivine-rich reflectance spectrum similar to Eureka's. These measurements confirm that the progenitor of the cluster has an achondritic composition 4 . Olivine-rich reflectance spectra are rare amongst asteroids 5 but are seen around the largest basins on Mars 6 . They are also consistent with some Martian meteorites (e.g. Chassigny 7 ), and with the material comprising much of the Martian mantle 8,9 . Using numerical simulations, we show that the Mars Trojans are more likely to be impact ejecta from Mars than captured olivine-rich asteroids transported from the main belt. This result links directly specific asteroids to debris from the forming planets.We observed the second and third in the size-ordered list of Eureka cluster members: 311999 (2007 NS 2 ) and 385250 (2001 DH 47 ), with diameters of 0.7±0.2 and 0.5±0.1 km, respectively (see SI for details). Observations were conducted on February 2016 at NASA's infrared telescope facility (IRTF) with the SpeX instrument at a wavelength range of 0.8 to 2.5 µm (see Methods for details).The reflectance spectra of both 311999 (2007 NS 2 ) and 385250 (2001 DH 47 ) match one another (Fig. 1a). With a broad absorption band around 1 µm, they resemble the olivine-rich A-type of the Bus-DeMeo classification. In addition, the lack of an absorption band at 2 µm reflects the lack of iron-bearing pyroxene. These measurements confirm the results of recent ground-based observations obtained independently with the XSHOOTER spectrograph on the Very Large Telescope 10 . Eureka was classified as Sa-type 11 , a sub-class of the olivine-rich Atype. Using a radiative-transfer, composition-mixing model (the Shkuratov model 12,13 ), we characterized the asteroid reflectance spectra and found that Eureka, 311999 (2007 NS 2 ) and 385250 (2001 DH 47 ) have about 90%±10% olivine at the surface.The observed width of the 1 µm absorption band differs significantly from those of Scomplex asteroids (S-, Sq-, Q-types, etc.; Fig. 1a) refuting any spectral connection with these common asteroid types. Similarly, we rule out a match with the flat reflectance spectra of Cand X-complex asteroids. An unbiased census of the main belt shows that only 0.4% of the mass of the main belt asteroids are the olivine-rich A-types 5 . This makes the similarity between the reflectance spectra of E...