R_loss: 0.02529, X_C_loss: 0.03679, X_S_loss: 0.03375, d_loss: 0.02684, f_S_loss: 0.03988, loss: 0.19585, upsilon_loss: 0.03329, val_R_loss: 0.02039, val_X_C_loss: 0.03265, val_X_S_loss: 0.03021, val_d_loss: 0.02139, val_f_S_loss: 0.03613, val_loss: 0.16949, val_upsilon_loss: 0.02873, learning_rate: 0.00030
