R_loss: 0.02768, X_S_loss: 0.03381, d_loss: 0.02868, f_E_loss: 0.01429, f_S_loss: 0.04102, loss: 0.14548, val_R_loss: 0.02282, val_X_S_loss: 0.03018, val_d_loss: 0.02358, val_f_E_loss: 0.01109, val_f_S_loss: 0.03686, val_loss: 0.12453, learning_rate: 0.00015
