R_loss: 0.05440, X_S_loss: 0.05707, d_loss: 0.06402, f_E_loss: 0.04026, f_S_loss: 0.07160, loss: 0.28736, val_R_loss: 0.05194, val_X_S_loss: 0.05495, val_d_loss: 0.06060, val_f_E_loss: 0.03756, val_f_S_loss: 0.06890, val_loss: 0.27394, learning_rate: 0.00030
