R_loss: 0.03548, X_C_loss: 0.05536, X_S_loss: 0.04633, d_loss: 0.04079, f_E_loss: 0.02374, f_S_loss: 0.06178, loss: 0.31358, upsilon_loss: 0.05010, val_R_loss: 0.03074, val_X_C_loss: 0.05114, val_X_S_loss: 0.04191, val_d_loss: 0.03547, val_f_E_loss: 0.02029, val_f_S_loss: 0.05639, val_loss: 0.28038, val_upsilon_loss: 0.04445, learning_rate: 0.00015
