R_loss: 0.04493, X_C_loss: 0.05751, d_loss: 0.04577, loss: 0.19610, upsilon_loss: 0.04789, val_R_loss: 0.04244, val_X_C_loss: 0.05541, val_d_loss: 0.04333, val_loss: 0.18639, val_upsilon_loss: 0.04521, learning_rate: 0.00030
