R_loss: 0.02487, X_C_loss: 0.03631, X_S_loss: 0.03346, d_loss: 0.02607, f_S_loss: 0.04168, loss: 0.19336, upsilon_loss: 0.03096, val_R_loss: 0.02015, val_X_C_loss: 0.03205, val_X_S_loss: 0.02994, val_d_loss: 0.02117, val_f_S_loss: 0.03662, val_loss: 0.16654, val_upsilon_loss: 0.02661, learning_rate: 0.00030
