R_loss: 0.02751, X_S_loss: 0.03360, d_loss: 0.02949, f_E_loss: 0.01641, f_S_loss: 0.04385, loss: 0.15086, val_R_loss: 0.02285, val_X_S_loss: 0.03047, val_d_loss: 0.02418, val_f_E_loss: 0.01243, val_f_S_loss: 0.03983, val_loss: 0.12976, learning_rate: 0.00030
