R_loss: 0.02879, X_S_loss: 0.03811, d_loss: 0.02955, f_S_loss: 0.04426, loss: 0.14071, val_R_loss: 0.02605, val_X_S_loss: 0.03618, val_d_loss: 0.02651, val_f_S_loss: 0.04122, val_loss: 0.12996, learning_rate: 0.00030
