R_loss: 0.03141, X_C_loss: 0.04532, X_S_loss: 0.04149, d_loss: 0.03282, f_S_loss: 0.04651, loss: 0.23375, upsilon_loss: 0.03621, val_R_loss: 0.02736, val_X_C_loss: 0.04055, val_X_S_loss: 0.03821, val_d_loss: 0.02845, val_f_S_loss: 0.04378, val_loss: 0.21149, val_upsilon_loss: 0.03314, learning_rate: 0.00015
