R_loss: 0.04832, X_S_loss: 0.05656, d_loss: 0.04939, f_S_loss: 0.06594, loss: 0.22021, val_R_loss: 0.04649, val_X_S_loss: 0.05508, val_d_loss: 0.04734, val_f_S_loss: 0.06402, val_loss: 0.21293, learning_rate: 0.00030
