R_loss: 0.03074, X_C_loss: 0.04488, X_S_loss: 0.03948, d_loss: 0.03200, f_S_loss: 0.04806, loss: 0.23407, upsilon_loss: 0.03891, val_R_loss: 0.02710, val_X_C_loss: 0.04033, val_X_S_loss: 0.03740, val_d_loss: 0.02787, val_f_S_loss: 0.04445, val_loss: 0.21131, val_upsilon_loss: 0.03416, learning_rate: 0.00030
