R_loss: 0.02580, X_C_loss: 0.03843, d_loss: 0.02655, loss: 0.12177, upsilon_loss: 0.03099, val_R_loss: 0.02295, val_X_C_loss: 0.03572, val_d_loss: 0.02351, val_loss: 0.11065, val_upsilon_loss: 0.02847, learning_rate: 0.00030
