R_loss: 0.04919, X_S_loss: 0.05696, d_loss: 0.05014, f_S_loss: 0.06654, loss: 0.22284, val_R_loss: 0.04709, val_X_S_loss: 0.05536, val_d_loss: 0.04791, val_f_S_loss: 0.06494, val_loss: 0.21530, learning_rate: 0.00015
