R_loss: 0.04435, X_C_loss: 0.05787, d_loss: 0.04551, loss: 0.19565, upsilon_loss: 0.04791, val_R_loss: 0.04224, val_X_C_loss: 0.05594, val_d_loss: 0.04321, val_loss: 0.18719, val_upsilon_loss: 0.04581, learning_rate: 0.00030
