R_loss: 0.02173, X_C_loss: 0.03193, d_loss: 0.02208, loss: 0.10174, upsilon_loss: 0.02599, val_R_loss: 0.01721, val_X_C_loss: 0.02852, val_d_loss: 0.01761, val_loss: 0.08591, val_upsilon_loss: 0.02257, learning_rate: 0.00030
