R_loss: 0.04922, X_C_loss: 0.06788, d_loss: 0.05968, f_E_loss: 0.03926, loss: 0.27259, upsilon_loss: 0.05654, val_R_loss: 0.04684, val_X_C_loss: 0.06671, val_d_loss: 0.05629, val_f_E_loss: 0.03649, val_loss: 0.26034, val_upsilon_loss: 0.05400, learning_rate: 0.00030
