R_loss: 0.02401, X_C_loss: 0.03953, X_S_loss: 0.03238, d_loss: 0.02518, f_S_loss: 0.03926, loss: 0.19324, upsilon_loss: 0.03288, val_R_loss: 0.02009, val_X_C_loss: 0.03390, val_X_S_loss: 0.03093, val_d_loss: 0.02080, val_f_S_loss: 0.03653, val_loss: 0.17047, val_upsilon_loss: 0.02822, learning_rate: 0.00030
