R_loss: 0.03553, X_S_loss: 0.03973, d_loss: 0.03965, f_E_loss: 0.02172, f_S_loss: 0.05139, loss: 0.18802, val_R_loss: 0.03107, val_X_S_loss: 0.03678, val_d_loss: 0.03459, val_f_E_loss: 0.01813, val_f_S_loss: 0.04719, val_loss: 0.16776, learning_rate: 0.00015
