R_loss: 0.02589, X_C_loss: 0.04075, d_loss: 0.02917, f_E_loss: 0.01510, loss: 0.14307, upsilon_loss: 0.03216, val_R_loss: 0.02052, val_X_C_loss: 0.03724, val_d_loss: 0.02310, val_f_E_loss: 0.01142, val_loss: 0.12084, val_upsilon_loss: 0.02855, learning_rate: 0.00015
