R_loss: 0.02596, X_C_loss: 0.03913, d_loss: 0.02656, loss: 0.12277, upsilon_loss: 0.03112, val_R_loss: 0.02310, val_X_C_loss: 0.03602, val_d_loss: 0.02342, val_loss: 0.11093, val_upsilon_loss: 0.02839, learning_rate: 0.00030
