R_loss: 0.05406, X_S_loss: 0.05736, d_loss: 0.06251, f_E_loss: 0.03795, f_S_loss: 0.07164, loss: 0.28353, val_R_loss: 0.05173, val_X_S_loss: 0.05539, val_d_loss: 0.05969, val_f_E_loss: 0.03534, val_f_S_loss: 0.06900, val_loss: 0.27115, learning_rate: 0.00030
