R_loss: 0.03041, X_C_loss: 0.04698, d_loss: 0.03306, f_E_loss: 0.01955, loss: 0.16689, upsilon_loss: 0.03690, val_R_loss: 0.02659, val_X_C_loss: 0.04399, val_d_loss: 0.02848, val_f_E_loss: 0.01608, val_loss: 0.14906, val_upsilon_loss: 0.03392, learning_rate: 0.00015
