R_loss: 0.05433, X_C_loss: 0.08106, X_S_loss: 0.06322, d_loss: 0.06381, f_E_loss: 0.04387, f_S_loss: 0.07688, loss: 0.45445, upsilon_loss: 0.07128, val_R_loss: 0.05144, val_X_C_loss: 0.08040, val_X_S_loss: 0.06070, val_d_loss: 0.06059, val_f_E_loss: 0.04121, val_f_S_loss: 0.07383, val_loss: 0.43798, val_upsilon_loss: 0.06980, learning_rate: 0.00030
