R_loss: 0.04473, X_C_loss: 0.05944, d_loss: 0.04581, loss: 0.19950, upsilon_loss: 0.04952, val_R_loss: 0.04252, val_X_C_loss: 0.05664, val_d_loss: 0.04358, val_loss: 0.18870, val_upsilon_loss: 0.04597, learning_rate: 0.00030
