R_loss: 0.02589, X_C_loss: 0.03522, X_S_loss: 0.03484, d_loss: 0.02685, f_S_loss: 0.03979, loss: 0.19643, upsilon_loss: 0.03383, val_R_loss: 0.02039, val_X_C_loss: 0.03103, val_X_S_loss: 0.03126, val_d_loss: 0.02127, val_f_S_loss: 0.03631, val_loss: 0.16810, val_upsilon_loss: 0.02784, learning_rate: 0.00030
