R_loss: 0.02744, X_C_loss: 0.05003, X_S_loss: 0.04060, d_loss: 0.03288, f_E_loss: 0.01959, f_S_loss: 0.04863, loss: 0.26484, upsilon_loss: 0.04567, val_R_loss: 0.02295, val_X_C_loss: 0.04474, val_X_S_loss: 0.03499, val_d_loss: 0.02652, val_f_E_loss: 0.01514, val_f_S_loss: 0.04299, val_loss: 0.22576, val_upsilon_loss: 0.03843, learning_rate: 0.00015
