R_loss: 0.02986, X_C_loss: 0.04793, d_loss: 0.03490, f_E_loss: 0.02096, loss: 0.17120, upsilon_loss: 0.03755, val_R_loss: 0.02623, val_X_C_loss: 0.04432, val_d_loss: 0.03013, val_f_E_loss: 0.01780, val_loss: 0.15270, val_upsilon_loss: 0.03423, learning_rate: 0.00030
