R_loss: 0.02965, X_C_loss: 0.07662, X_S_loss: 0.04012, d_loss: 0.03404, f_E_loss: 0.01885, f_S_loss: 0.04834, loss: 0.30115, upsilon_loss: 0.05353, val_R_loss: 0.02377, val_X_C_loss: 0.07617, val_X_S_loss: 0.03542, val_d_loss: 0.02735, val_f_E_loss: 0.01461, val_f_S_loss: 0.04324, val_loss: 0.27164, val_upsilon_loss: 0.05107, learning_rate: 0.00015
