R_loss: 0.04519, X_C_loss: 0.05753, d_loss: 0.04603, loss: 0.19622, upsilon_loss: 0.04748, val_R_loss: 0.04260, val_X_C_loss: 0.05550, val_d_loss: 0.04365, val_loss: 0.18683, val_upsilon_loss: 0.04507, learning_rate: 0.00030
