R_loss: 0.03419, X_S_loss: 0.04014, d_loss: 0.03710, f_E_loss: 0.02149, f_S_loss: 0.05086, loss: 0.18378, val_R_loss: 0.03065, val_X_S_loss: 0.03699, val_d_loss: 0.03263, val_f_E_loss: 0.01828, val_f_S_loss: 0.04628, val_loss: 0.16483, learning_rate: 0.00015
