def get_centers_inside_boxes(centers, boxes):
    """
    Args:
        - centers (Tensor): shape (NA, NB, 3)
        - boxes (Tensor): shape (NA, NB, 6)
    Returns:
        - mask: shape (NA, NB), indicates whether centers is insdie boxes
    """
    cond1 = centers >= boxes[..., :3]
    cond2 = centers <= boxes[..., 3:]
    cond = cond1 & cond2
    mask = (cond[..., 0] & cond[..., 1] & cond[..., 2])
    return mask