R_loss: 0.02270, X_S_loss: 0.03064, d_loss: 0.02311, f_S_loss: 0.03667, loss: 0.11312, val_R_loss: 0.01919, val_X_S_loss: 0.02863, val_d_loss: 0.01930, val_f_S_loss: 0.03426, val_loss: 0.10138, learning_rate: 0.00030
