R_loss: 0.03574, X_S_loss: 0.04178, d_loss: 0.03884, f_E_loss: 0.02068, f_S_loss: 0.04940, loss: 0.18644, val_R_loss: 0.03120, val_X_S_loss: 0.03795, val_d_loss: 0.03346, val_f_E_loss: 0.01712, val_f_S_loss: 0.04506, val_loss: 0.16480, learning_rate: 0.00015
