R_loss: 0.02308, X_S_loss: 0.03215, d_loss: 0.02390, f_S_loss: 0.03911, loss: 0.11825, val_R_loss: 0.01940, val_X_S_loss: 0.02969, val_d_loss: 0.01975, val_f_S_loss: 0.03592, val_loss: 0.10477, learning_rate: 0.00030
