R_loss: 0.04821, X_S_loss: 0.05731, d_loss: 0.04945, f_S_loss: 0.06561, loss: 0.22058, val_R_loss: 0.04636, val_X_S_loss: 0.05535, val_d_loss: 0.04745, val_f_S_loss: 0.06401, val_loss: 0.21316, learning_rate: 0.00030
