R_loss: 0.02290, X_S_loss: 0.03077, d_loss: 0.02328, f_S_loss: 0.03775, loss: 0.11470, val_R_loss: 0.01927, val_X_S_loss: 0.02859, val_d_loss: 0.01945, val_f_S_loss: 0.03516, val_loss: 0.10247, learning_rate: 0.00030
