R_loss: 0.03032, X_C_loss: 0.05082, d_loss: 0.03604, f_E_loss: 0.02023, loss: 0.17578, upsilon_loss: 0.03836, val_R_loss: 0.02664, val_X_C_loss: 0.04642, val_d_loss: 0.03104, val_f_E_loss: 0.01677, val_loss: 0.15545, val_upsilon_loss: 0.03457, learning_rate: 0.00030
