R_loss: 0.03565, X_C_loss: 0.05688, X_S_loss: 0.04488, d_loss: 0.04152, f_E_loss: 0.03025, f_S_loss: 0.06021, loss: 0.32137, upsilon_loss: 0.05199, val_R_loss: 0.03100, val_X_C_loss: 0.05195, val_X_S_loss: 0.04100, val_d_loss: 0.03584, val_f_E_loss: 0.02403, val_f_S_loss: 0.05581, val_loss: 0.28549, val_upsilon_loss: 0.04587, learning_rate: 0.00015
