R_loss: 0.05374, X_S_loss: 0.05642, d_loss: 0.06206, f_E_loss: 0.03740, f_S_loss: 0.07003, loss: 0.27965, val_R_loss: 0.05155, val_X_S_loss: 0.05405, val_d_loss: 0.05921, val_f_E_loss: 0.03514, val_f_S_loss: 0.06753, val_loss: 0.26749, learning_rate: 0.00030
