\begin{align}
\setlength{\abovedisplayskip}{-5pt}
\setlength{\belowdisplayskip}{-5pt}
    &\mathcal{L}_{l,r}=\mathbb{E}_{l_0,r_0,\epsilon_{l,r},t}[||\epsilon_{l,r}-\hat{\epsilon}_{l,r}||^2]\\
    &\mathcal{L}_{box}=\sum\limits_{t=1}\limits^{T}w_t*\sum\limits_{o_i,o_j\in\tilde{x}^t_0}IoU(o_i,o_j)
\end{align}
