R_loss: 0.03020, X_S_loss: 0.03917, d_loss: 0.03055, f_S_loss: 0.04435, loss: 0.14427, val_R_loss: 0.02651, val_X_S_loss: 0.03664, val_d_loss: 0.02679, val_f_S_loss: 0.04190, val_loss: 0.13183, learning_rate: 0.00030
