R_loss: 0.02243, X_S_loss: 0.03104, d_loss: 0.02319, f_S_loss: 0.03589, loss: 0.11255, val_R_loss: 0.01904, val_X_S_loss: 0.02901, val_d_loss: 0.01938, val_f_S_loss: 0.03360, val_loss: 0.10103, learning_rate: 0.00015
