R_loss: 0.01980, X_C_loss: 0.03202, d_loss: 0.02049, loss: 0.09828, upsilon_loss: 0.02596, val_R_loss: 0.01655, val_X_C_loss: 0.02864, val_d_loss: 0.01695, val_loss: 0.08525, val_upsilon_loss: 0.02311, learning_rate: 0.00030
