R_loss: 0.02994, X_C_loss: 0.04689, X_S_loss: 0.04169, d_loss: 0.03440, f_E_loss: 0.02203, f_S_loss: 0.05735, loss: 0.27146, upsilon_loss: 0.03915, val_R_loss: 0.02423, val_X_C_loss: 0.04206, val_X_S_loss: 0.03613, val_d_loss: 0.02779, val_f_E_loss: 0.01707, val_f_S_loss: 0.05075, val_loss: 0.23264, val_upsilon_loss: 0.03462, learning_rate: 0.00015
