R_loss: 0.02044, X_C_loss: 0.03135, d_loss: 0.02081, loss: 0.09802, upsilon_loss: 0.02542, val_R_loss: 0.01686, val_X_C_loss: 0.02811, val_d_loss: 0.01698, val_loss: 0.08437, val_upsilon_loss: 0.02241, learning_rate: 0.00030
