R_loss: 0.02957, X_S_loss: 0.03867, d_loss: 0.03008, f_S_loss: 0.04578, loss: 0.14410, val_R_loss: 0.02656, val_X_S_loss: 0.03644, val_d_loss: 0.02667, val_f_S_loss: 0.04285, val_loss: 0.13251, learning_rate: 0.00030
