R_loss: 0.03019, X_C_loss: 0.04517, X_S_loss: 0.05523, d_loss: 0.03489, f_E_loss: 0.02604, f_S_loss: 0.08847, loss: 0.32112, upsilon_loss: 0.04113, val_R_loss: 0.02414, val_X_C_loss: 0.04102, val_X_S_loss: 0.05051, val_d_loss: 0.02808, val_f_E_loss: 0.01913, val_f_S_loss: 0.08597, val_loss: 0.28535, val_upsilon_loss: 0.03650, learning_rate: 0.00015
