R_loss: 0.02721, X_S_loss: 0.03414, d_loss: 0.02902, f_E_loss: 0.01516, f_S_loss: 0.04494, loss: 0.15047, val_R_loss: 0.02276, val_X_S_loss: 0.03068, val_d_loss: 0.02386, val_f_E_loss: 0.01176, val_f_S_loss: 0.04068, val_loss: 0.12975, learning_rate: 0.00030
