R_loss: 0.03374, X_S_loss: 0.03892, d_loss: 0.03745, f_E_loss: 0.02126, f_S_loss: 0.04946, loss: 0.18083, val_R_loss: 0.03001, val_X_S_loss: 0.03632, val_d_loss: 0.03261, val_f_E_loss: 0.01753, val_f_S_loss: 0.04597, val_loss: 0.16243, learning_rate: 0.00030
