R_loss: 0.02628, X_C_loss: 0.03937, d_loss: 0.02701, loss: 0.12419, upsilon_loss: 0.03153, val_R_loss: 0.02325, val_X_C_loss: 0.03655, val_d_loss: 0.02372, val_loss: 0.11236, val_upsilon_loss: 0.02884, learning_rate: 0.00030
