R_loss: 0.04465, X_C_loss: 0.05741, d_loss: 0.04584, loss: 0.19581, upsilon_loss: 0.04791, val_R_loss: 0.04229, val_X_C_loss: 0.05550, val_d_loss: 0.04344, val_loss: 0.18682, val_upsilon_loss: 0.04560, learning_rate: 0.00030
