R_loss: 0.05426, X_S_loss: 0.05659, d_loss: 0.06202, f_E_loss: 0.03892, f_S_loss: 0.07197, loss: 0.28375, val_R_loss: 0.05188, val_X_S_loss: 0.05425, val_d_loss: 0.05911, val_f_E_loss: 0.03645, val_f_S_loss: 0.06899, val_loss: 0.27069, learning_rate: 0.00030
