R_loss: 0.05443, X_C_loss: 0.07373, X_S_loss: 0.06704, d_loss: 0.06437, f_E_loss: 0.04511, f_S_loss: 0.08470, loss: 0.45772, upsilon_loss: 0.06835, val_R_loss: 0.05136, val_X_C_loss: 0.07072, val_X_S_loss: 0.06318, val_d_loss: 0.06079, val_f_E_loss: 0.04213, val_f_S_loss: 0.08061, val_loss: 0.43294, val_upsilon_loss: 0.06415, learning_rate: 0.00015
