R_loss: 0.02970, X_S_loss: 0.03827, d_loss: 0.03005, f_S_loss: 0.04313, loss: 0.14115, val_R_loss: 0.02665, val_X_S_loss: 0.03639, val_d_loss: 0.02665, val_f_S_loss: 0.04017, val_loss: 0.12986, learning_rate: 0.00030
