R_loss: 0.02070, X_C_loss: 0.03281, d_loss: 0.02118, loss: 0.10153, upsilon_loss: 0.02683, val_R_loss: 0.01687, val_X_C_loss: 0.02938, val_d_loss: 0.01705, val_loss: 0.08693, val_upsilon_loss: 0.02363, learning_rate: 0.00030
