R_loss: 0.02046, X_C_loss: 0.03337, d_loss: 0.02113, loss: 0.10389, upsilon_loss: 0.02894, val_R_loss: 0.01685, val_X_C_loss: 0.02923, val_d_loss: 0.01714, val_loss: 0.08812, val_upsilon_loss: 0.02490, learning_rate: 0.00030
