R_loss: 0.04901, X_C_loss: 0.06948, d_loss: 0.05866, f_E_loss: 0.03776, loss: 0.27048, upsilon_loss: 0.05557, val_R_loss: 0.04659, val_X_C_loss: 0.06703, val_d_loss: 0.05543, val_f_E_loss: 0.03518, val_loss: 0.25735, val_upsilon_loss: 0.05313, learning_rate: 0.00030
