R_loss: 0.02287, X_S_loss: 0.03207, d_loss: 0.02346, f_S_loss: 0.03787, loss: 0.11627, val_R_loss: 0.01930, val_X_S_loss: 0.02951, val_d_loss: 0.01939, val_f_S_loss: 0.03478, val_loss: 0.10297, learning_rate: 0.00030
