R_loss: 0.02608, X_C_loss: 0.03823, d_loss: 0.02695, loss: 0.12200, upsilon_loss: 0.03074, val_R_loss: 0.02304, val_X_C_loss: 0.03582, val_d_loss: 0.02372, val_loss: 0.11105, val_upsilon_loss: 0.02847, learning_rate: 0.00030
