R_loss: 0.03011, X_C_loss: 0.04159, X_S_loss: 0.04157, d_loss: 0.03167, f_S_loss: 0.04731, loss: 0.22765, upsilon_loss: 0.03539, val_R_loss: 0.02675, val_X_C_loss: 0.03844, val_X_S_loss: 0.03837, val_d_loss: 0.02791, val_f_S_loss: 0.04429, val_loss: 0.20804, val_upsilon_loss: 0.03229, learning_rate: 0.00030
