R_loss: 0.05334, X_C_loss: 0.08131, X_S_loss: 0.06645, d_loss: 0.06382, f_E_loss: 0.04467, f_S_loss: 0.08268, loss: 0.46538, upsilon_loss: 0.07311, val_R_loss: 0.05101, val_X_C_loss: 0.07997, val_X_S_loss: 0.06382, val_d_loss: 0.06056, val_f_E_loss: 0.04192, val_f_S_loss: 0.07896, val_loss: 0.44744, val_upsilon_loss: 0.07121, learning_rate: 0.00030
