R_loss: 0.02921, X_C_loss: 0.05099, X_S_loss: 0.04302, d_loss: 0.03223, f_E_loss: 0.02581, f_S_loss: 0.05996, loss: 0.28164, upsilon_loss: 0.04043, val_R_loss: 0.02359, val_X_C_loss: 0.04567, val_X_S_loss: 0.03678, val_d_loss: 0.02620, val_f_E_loss: 0.01845, val_f_S_loss: 0.05303, val_loss: 0.23952, val_upsilon_loss: 0.03579, learning_rate: 0.00030
