R_loss: 0.02390, X_C_loss: 0.03808, d_loss: 0.02600, f_E_loss: 0.01226, loss: 0.12967, upsilon_loss: 0.02943, val_R_loss: 0.01956, val_X_C_loss: 0.03451, val_d_loss: 0.02091, val_f_E_loss: 0.00993, val_loss: 0.11100, val_upsilon_loss: 0.02609, learning_rate: 0.00030
