R_loss: 0.02860, X_S_loss: 0.03616, d_loss: 0.03176, f_E_loss: 0.01634, f_S_loss: 0.04386, loss: 0.15672, val_R_loss: 0.02343, val_X_S_loss: 0.03167, val_d_loss: 0.02569, val_f_E_loss: 0.01215, val_f_S_loss: 0.03952, val_loss: 0.13246, learning_rate: 0.00030
