R_loss: 0.03582, X_S_loss: 0.04361, d_loss: 0.03971, f_E_loss: 0.02618, f_S_loss: 0.05464, loss: 0.19996, val_R_loss: 0.03099, val_X_S_loss: 0.03879, val_d_loss: 0.03440, val_f_E_loss: 0.02015, val_f_S_loss: 0.04964, val_loss: 0.17397, learning_rate: 0.00030
