R_loss: 0.03210, X_C_loss: 0.04221, X_S_loss: 0.04261, d_loss: 0.03317, f_S_loss: 0.04693, loss: 0.23321, upsilon_loss: 0.03618, val_R_loss: 0.02748, val_X_C_loss: 0.03851, val_X_S_loss: 0.03844, val_d_loss: 0.02834, val_f_S_loss: 0.04360, val_loss: 0.20916, val_upsilon_loss: 0.03279, learning_rate: 0.00030
