R_loss: 0.02566, X_C_loss: 0.03847, d_loss: 0.02649, loss: 0.12132, upsilon_loss: 0.03071, val_R_loss: 0.02298, val_X_C_loss: 0.03554, val_d_loss: 0.02331, val_loss: 0.11007, val_upsilon_loss: 0.02824, learning_rate: 0.00030
