R_loss: 0.02432, X_C_loss: 0.03731, X_S_loss: 0.03314, d_loss: 0.02584, f_S_loss: 0.03954, loss: 0.19173, upsilon_loss: 0.03159, val_R_loss: 0.02000, val_X_C_loss: 0.03248, val_X_S_loss: 0.03026, val_d_loss: 0.02083, val_f_S_loss: 0.03638, val_loss: 0.16749, val_upsilon_loss: 0.02754, learning_rate: 0.00030
