R_loss: 0.03191, X_C_loss: 0.04492, X_S_loss: 0.04284, d_loss: 0.03290, f_S_loss: 0.05043, loss: 0.23999, upsilon_loss: 0.03699, val_R_loss: 0.02758, val_X_C_loss: 0.04130, val_X_S_loss: 0.03910, val_d_loss: 0.02835, val_f_S_loss: 0.04595, val_loss: 0.21634, val_upsilon_loss: 0.03407, learning_rate: 0.00008
