R_loss: 0.02942, X_S_loss: 0.03750, d_loss: 0.02994, f_S_loss: 0.04263, loss: 0.13950, val_R_loss: 0.02637, val_X_S_loss: 0.03535, val_d_loss: 0.02655, val_f_S_loss: 0.03987, val_loss: 0.12814, learning_rate: 0.00030
