R_loss: 0.02538, X_C_loss: 0.04350, d_loss: 0.02648, f_E_loss: 0.01513, loss: 0.14224, upsilon_loss: 0.03175, val_R_loss: 0.02032, val_X_C_loss: 0.03851, val_d_loss: 0.02163, val_f_E_loss: 0.01172, val_loss: 0.12017, val_upsilon_loss: 0.02798, learning_rate: 0.00030
